Modularized mechanical arm joint module

Abstract

The utility model discloses a modularized mechanical arm joint module which comprises a shell and a rotary driving element installed in the shell, an output shaft of the rotary driving element penetrates out of the shell, the end portion of the output shaft is connected with a male seat or a female seat, and the other side faces of the shell are also provided with male seats or female seats. The male seat or the female seat on one mechanical arm joint module can be directly matched and connected with the female seat or the male seat on another mechanical arm joint module in a quick-release manner, and the male seat or the female seat on the mechanical arm joint module can be directly matched and connected with the female seat or the male seat of the joint connecting piece on the mechanical arm in a quick-release manner; wherein the male seat and the female seat are in quick-release connection through one or combination of a plug-in structure, a buckle structure and a lock catch structure; according to the mechanical arm joint module, modularization is adopted, the multiple mechanical arm joint modules can be assembled and can be freely assembled into mechanical arms of different configurations, experiment teaching of various types of robots is supported, and the laboratory cost is reduced by means of the advantage that modularization can be reused.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and in particular to a modular mechanical arm joint module. Background Art

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

[0003] In order to solve the above-mentioned existing technical problems, defects and unattainable technical requirements, the purpose of the utility model is to provide a modular robotic arm joint module. The robotic arm joint module adopts modularity, and multiple robotic arm joint modules can be assembled and can be freely assembled into robotic arms of different configurations, supporting experimental teaching of various types of robotic arms.

[0004] The technical solution adopted by the utility model to achieve its utility model purpose is:

[0005] A modular robot arm joint module, comprising a housing and a rotary drive element installed in the housing, wherein an output shaft of the rotary drive element passes through the housing, and an end of the output shaft is connected to a male seat or a female seat, and other sides of the housing are also provided with a male seat or a female seat; the male seat or the female seat on the robot arm joint module can be directly matched with a female seat or a male seat on another robot arm joint module for quick release connection, and the male seat or the female seat on the robot arm joint module can be directly matched with a female seat or a male seat on a joint module connector on the robot arm for quick release connection;

[0006] Preferably, the male socket and the female socket are connected by a quick-release structure, a snap-fit ​​structure, a locking structure or a combination thereof.

[0007] Preferably, when a quick-release connection is achieved between the male and female sockets through a plug-in structure, a plug-in portion or a plug-in slot is provided on the male socket, and a plug-in slot or a plug-in portion that is adapted to the shape of the plug-in portion or the plug-in slot is provided on the female socket, the plug-in portion is inserted into the plug-in slot, and the male and female sockets are locked in position by a locking assembly.

[0008] Preferably, the male seat is provided with a plug-in portion, which is a dovetail block structure, and the female seat is provided with a plug-in groove, which is a dovetail groove structure. The locking assembly is arranged on the female seat, and the dovetail block of the male seat is translated and inserted into the dovetail groove of the female seat, and the locking assembly can lock the relative position of the dovetail block.

[0009] Preferably, the locking assembly includes a locking block, which is movably arranged on the female seat, and a locking groove is provided on the side of the dovetail block of the male seat. When the end of the locking block is placed in the locking groove, the locking block can lock the relative position of the dovetail block.

[0010] Preferably, the male seat is provided with a limiting surface at one end located in the dovetail block insertion direction. When the dovetail block of the male seat is inserted into the dovetail groove of the female seat, the limiting surface conflicts with the end face of the female seat, so that the locking piece is exactly aligned with the locking groove.

[0011] Preferably, the locking assembly also includes a locking screw and a limit screw. The locking screw is screwed on the mother seat. The mother seat is provided with a guide groove that matches the shape of the locking block. The locking block slides along the guide groove. The locking groove matches the shape of the locking block. The limit screw passes through the locking block and is connected to the end of the locking screw. The head end face of the limit screw and the step surface of the locking screw cooperate with each other to achieve axial limitation of the locking block, so that the locking block moves with the locking screw. Rotating the locking screw inward can insert the locking block into the locking groove; rotating the locking screw outward can cause the locking block to disengage from the locking groove.

[0012] Preferably, a male seat is provided on the output shaft of the rotary drive element, a male seat is provided on the rear side surface of the housing relative to the output shaft of the rotary drive element, and a female seat is provided on at least one other side surface of the housing.

[0013] Preferably, the rotary drive element includes a motor assembly, a reducer assembly and an encoder assembly. The motor assembly is installed in the housing through a motor seat. The motor output shaft of the motor assembly is connected to the reducer assembly. The reducer assembly adopts harmonic drive deceleration. The reducer output shaft of the reducer assembly passes through the housing, and the end of the reducer output shaft is connected to a male seat or a female seat. The encoder assembly is a dual encoder module, and the encoder assembly is coaxially connected to the motor assembly. A data communication interface and a power supply interface are also installed on the housing. The data communication interface is connected to a host computer through a data adapter, so that the robotic arm joint module can realize data communication with the host computer, and the host computer is used as the controller of the robotic arm joint module.

[0014] Preferably, an elastic limiter is connected to the shell, and the elastic limiter on the robotic arm joint module cooperates with the elastic limiter or the shell on another robotic arm joint module to limit the rotation angle of the shell on the robotic arm joint module to avoid line entanglement.

[0015] The beneficial effects of the utility model are as follows:

[0016] 1. The output shaft of the rotary drive element of the modular robotic arm joint module of the utility model passes through the outer shell, and the end of the output shaft is connected with a male seat or a female seat, and the other sides of the outer shell are also provided with a male seat or a female seat; the male seat or the female seat on the robotic arm joint module can be directly matched with the female seat or the male seat on another robotic arm joint module for quick release connection, or the male seat or the female seat on the robotic arm joint module can be directly matched with the female seat or the male seat on the joint module connector on the robotic arm for quick release connection, and the disassembly and installation are fast and can be assembled freely.

[0017] 2. The robotic arm joint module is modular, and multiple robotic arm joint modules can be assembled. They can be freely assembled into robotic arms of different configurations, support experimental teaching of various types of robotic arms, provide rich application cases, and use the advantages of modular reusability to reduce laboratory costs.

[0018] 3. The robot arm joint module constitutes the basic driving unit of various articulated robot arms, and has built-in brushless DC motors, harmonic reducers, motor drivers, output shafts with dual encoders and other main components; the robot arm joint modules can be cascaded and use serial bus communication to combine into a specific form of robot arm. The bottom-level robot arm joint module can communicate with the host computer (PC) through an adapter, thereby using the PC as the controller of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the modular robotic arm joint module of Example 1;

[0020] Figure 2 It is a schematic structural diagram of the male socket of Example 1;

[0021] Figure 3 It is a structural schematic diagram of the female seat of Example 1;

[0022] Figure 4 This is a schematic structural diagram of the quick-release connection of two sets of modularized robotic arm joint modules in Example 1;

[0023] Figure 5 It is a structural schematic diagram of the female seat and the locking assembly of Example 1;

[0024] Figure 6 It is a structural schematic diagram of the locking assembly of Example 1;

[0025] Figure 7 is an internal cross-sectional view of the locking assembly of Example 1;

[0026] Figure 8 This is a schematic diagram of the structure of the mechanical arm joint module and the base in Example 2, which are directly connected with each other in a quick-release manner;

[0027] Fig. 9 This is a structural schematic diagram of the quick-release connection between the robot arm joint module and the connecting rod assembly of Example 3.

[0028] Figures 1 to 9 In the figure: 1—housing; 2—output shaft; 3—male socket; 301—plug-in part; 302—locking groove; 303—limiting surface; 4—female socket; 401—plug-in groove; 402—guide groove; 5—locking assembly; 501—locking screw; 502—locking block; 503—limiting screw; 6—elastic limiting member; 7—data communication interface; 8—power supply interface; 9—base; 10—connecting rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated connection, or even a connection that can move relatively; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example 1

[0031] like Figures 1 to 7 As shown, a modular robot joint module includes a housing 1 and a driving element installed in the housing 1, wherein the output shaft 2 of the driving element passes through the housing 1, and the end of the output shaft 2 is connected to a male seat 3 or a female seat 4, and other sides of the housing 1 are also provided with male seats 3 or female seats 4; the male seat 3 or female seat 4 on the robot joint module can be directly matched with the female seat 4 or male seat 3 on another robot joint module for quick release connection. The male seat 3 or female seat 4 can be installed in an integrated or split manner.

[0032] The male socket 3 and the female socket 4 are connected quickly by a plug-in structure, a snap-fit ​​structure, a locking structure or a combination thereof.

[0033] Furthermore, the male seat 3 or the female seat 4 provided on the other side of the housing 1 is integrally formed with the housing 1 or detachably connected to the housing 1. The end of the output shaft 2 is fixedly connected with the male seat 3 or the female seat 4 by bolts.

[0034] Furthermore, the joint module connecting part on the robot arm is a base or a connecting rod assembly.

[0035] When the male socket 3 and the female socket 4 are quickly connected through a plug-in structure, a plug-in portion or a plug-in slot is provided on the male socket 3, and a plug-in slot or a plug-in portion that is adapted to the shape of the plug-in portion or the plug-in slot is provided on the female socket 4. The plug-in portion is inserted into the plug-in slot, and the male socket 3 and the female socket 4 are locked in position through a locking assembly.

[0036] In this embodiment, the male seat 3 is provided with a plug-in portion 301, which is a dovetail block structure. The female seat 4 is provided with a plug-in groove 401, which is a dovetail groove structure. The locking component 5 is arranged on the female seat 4. The dovetail block of the male seat 3 is translated and inserted into the dovetail groove of the female seat 4. The locking component 5 can lock the relative position of the dovetail block.

[0037] In this embodiment, a male seat 3 is provided on the output shaft 2 of the rotary drive element, a male seat 3 is provided on the rear side of the housing 1 relative to the output shaft 2 of the rotary drive element, and a female seat 4 is provided on at least one other side of the housing 1.

[0038] The locking assembly includes a locking block 502, which is movably arranged on the female seat 4. A locking groove 302 is provided on the side of the dovetail block of the male seat 3. When the end of the locking block 502 is placed in the locking groove 302, the locking block can lock the relative position of the dovetail block.

[0039] The male seat 3 is provided with a limiting surface 303 at one end located in the dovetail block insertion direction. When the dovetail block of the male seat 3 is inserted into the dovetail groove of the female seat 4, the limiting surface 303 conflicts with the end face of the female seat 4, so that the locking block is exactly aligned with the locking groove 302.

[0040] The locking assembly also includes a locking screw 501 and a limit screw 503. The locking screw 501 is screwed on the mother seat 4. The mother seat 4 is provided with a guide groove 402 that is adapted to the shape of the locking block. The locking block slides along the guide groove 402. The locking groove 302 is adapted to the shape of the locking block. The limit screw 503 passes through the locking block and is connected to the end of the locking screw 501. The head end face of the limit screw 503 cooperates with the step surface of the locking screw 501 to achieve axial limitation of the locking block, so that the locking block moves with the locking screw 501. Rotating the locking screw 501 inward can insert the locking block into the locking groove 302; rotating the locking screw 501 outward can cause the locking block to be separated from the locking groove 302. Of course, the telescopic member and the elastic element can also be used to cooperate to drive the locking block to move, so as to lock the relative position of the dovetail block. Specifically, the telescopic member is slidably arranged on the female seat, and the locking block is fixed or integrally arranged on the end of the telescopic member. The elastic element always gives the telescopic member an elastic force to move in the direction close to the locking groove. When the locking block is aligned with the locking groove, the elastic element drives the telescopic member to move, thereby driving the locking block to insert into the locking groove. When it needs to be removed, just pull the telescopic member outward to make the locking block disengage from the locking groove, and the dovetail block of the male seat can be moved out of the dovetail groove of the female seat.

[0041] The rotary drive element includes a motor assembly, a reducer assembly and an encoder assembly. The motor assembly is installed in the housing 1 through a motor seat. The motor output shaft 2 of the motor assembly is connected to the reducer assembly. The reducer assembly adopts harmonic drive deceleration. The reducer output shaft 2 of the reducer assembly passes through the housing 1, and the end of the reducer output shaft 2 is connected to a male seat 3 or a female seat 4. The encoder assembly is a dual encoder module, and the encoder assembly is coaxially connected to the motor assembly. The housing 1 is also equipped with a data communication interface 7 and a power supply interface 8. The data communication interface 7 is connected to a host computer through a data adapter, so that the robot arm joint module can realize data communication with the host computer, and the host computer is used as the controller of the robot arm joint module.

[0042] An elastic limiter 6 is connected to the shell 1. Specifically, the elastic limiter 6 can be a rubber block or a silicone block, which is fixed to the shell 1 by screws. The elastic limiter 6 on the robotic arm joint module cooperates with the elastic limiter 6 or the shell 1 on another robotic arm joint module to limit the rotation angle of the shell 1 on the robotic arm joint module to avoid line entanglement.

[0043] The matching principle of the male seat and the female seat: during installation, the dovetail block of the male seat 3 is translated from one end of the female seat 4 and inserted into the dovetail groove of the female seat 4 until the limit surface 303 conflicts with the end surface of the female seat 4, so that the locking block 502 is just aligned with the locking groove 302, and the locking screw 501 is rotated inwardly, and the locking block 502 moves inwardly with the locking screw 501. The locking block 502 is inserted into the locking groove 302 under the guidance of the guide groove 402, thereby locking the relative position of the male seat and the female seat; during removal, the locking screw 501 is rotated outwardly, and the locking block 502 moves outwardly with the locking screw 501, and the locking block 502 is disengaged from the locking groove 302. At this time, the dovetail block of the male seat 3 can be removed from the dovetail groove of the female seat 4. Example 2

[0044] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the differences are as follows:

[0045] The male seat 3 or the female seat 4 on the joint module of the robot arm can be directly matched with the female seat 4 or the male seat 3 on the joint module connector of the robot arm for quick release connection.

[0046] like Figure 8 As shown, when the joint module connecting part on the robot arm is a base 9, a male seat 3 or a female seat 4 is installed on the base 9, and the male seat 3 or the female seat 4 on the other sides of the shell 1 can directly cooperate with the female seat 4 or the male seat 3 on the base 9 for quick release connection.

[0047] Specifically, in this embodiment, a female seat 4 is installed on the base 9, and the male seat 3 on the other side of the shell 1 can be directly matched with the female seat 4 on the base 9 for quick release connection. The dovetail block of the male seat 3 is translated and inserted into the dovetail groove of the female seat 4, and the locking assembly 5 can lock the relative position of the dovetail block. Example 3

[0048] The parts of this embodiment that have the same structure as that of embodiment 1 are not described in detail, and the differences are as follows:

[0049] The male seat 3 or the female seat 4 on the joint module of the robot arm can be directly matched with the female seat 4 or the male seat 3 on the joint module connector of the robot arm for quick release connection.

[0050] The output shaft of the rotary drive element is provided with a male seat, the shell is provided with a male seat on the rear side relative to the output shaft of the rotary drive element, and at least one other side of the shell is provided with a female seat.

[0051] like Fig. 9 As shown, when the joint module connecting part on the robot arm is a connecting rod assembly, the connecting rod assembly includes a connecting rod 10 and a male seat 3 or a female seat 4 installed at both ends of the connecting rod 10. The male seat 3 or the female seat 4 of the connecting rod is directly matched with the female seat 4 or the male seat 3 of the robot arm joint module for quick release connection.

[0052] Specifically, in this embodiment, a male seat is provided on the output shaft of the rotating drive element of the first robotic arm joint module, and a male seat is provided on the rear side of the outer shell of the second robotic arm joint module relative to the output shaft of its rotating drive element. Female seats 4 are respectively installed at both ends of the connecting rod 10. The male seats of the two groups of robotic arm joint modules can be respectively translated and inserted into the female seats 4 at both ends of the connecting rod 10, and the relative position of the dovetail blocks can be locked through the locking assembly 5.

[0053] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0054] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A modular robotic arm joint module, characterized in that: It includes a shell and a rotating drive element installed in the shell, the output shaft of the rotating drive element passes through the shell, and the end of the output shaft is connected to a male seat or a female seat, and other sides of the shell are also provided with a male seat or a female seat; the male seat or the female seat on the robot arm joint module can be directly matched with the female seat or the male seat on another robot arm joint module for quick release connection, or the male seat or the female seat on the robot arm joint module can be directly matched with the female seat or the male seat on the joint module connecting part on the robot arm for quick release connection.

2. A modular robotic arm joint module according to claim 1, characterized in that: The male socket and the female socket are connected quickly by means of a plug-in structure, a snap-fit ​​structure, a locking structure or a combination thereof.

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

4. A modular robot arm joint module according to claim 3, characterized in that: The male seat is provided with a plug-in portion, which is a dovetail block structure; the female seat is provided with a plug-in slot, which is a dovetail slot structure; a locking assembly is arranged on the female seat; the dovetail block of the male seat is translated and inserted into the dovetail slot of the female seat; and the locking assembly can lock the relative position of the dovetail block.

5. A modular robot arm joint module according to claim 4, characterized in that: The locking assembly includes a locking block, which is movably arranged on the female seat. A locking groove is provided on the side of the dovetail block of the male seat. When the end of the locking block is placed in the locking groove, the locking block can lock the relative position of the dovetail block.

6. A modular robot arm joint module according to claim 5, characterized in that: The male seat is provided with a limiting surface at one end located in the dovetail block plugging direction. When the dovetail block of the male seat is inserted into the dovetail groove of the female seat, the limiting surface conflicts with the end face of the female seat, so that the locking block is aligned with the locking groove.

7. A modular robot arm joint module according to claim 5, characterized in that: The locking assembly also includes a locking screw and a limit screw. The locking screw is screwed on the mother seat. The mother seat is provided with a guide groove that matches the shape of the locking block. The locking block slides along the guide groove. The locking groove matches the shape of the locking block. The limit screw passes through the locking block and is connected to the end of the locking screw. The head end face of the limit screw and the step surface of the locking screw cooperate with each other to achieve axial limitation of the locking block, so that the locking block moves with the locking screw. Rotating the locking screw inward can insert the locking block into the locking groove; rotating the locking screw outward can cause the locking block to disengage from the locking groove.

8. The modular robot arm joint module according to claim 1, characterized in that: The output shaft of the rotary drive element is provided with a male seat, the shell is provided with a male seat on the rear side relative to the output shaft of the rotary drive element, and at least one other side of the shell is provided with a female seat.

9. The modular robot arm joint module according to claim 1, characterized in that: The rotary drive element includes a motor assembly, a reducer assembly and an encoder assembly. The motor assembly is installed in the housing through a motor seat. The motor output shaft of the motor assembly is connected to the reducer assembly. The reducer output shaft of the reducer assembly passes through the housing, and the end of the reducer output shaft is connected to a male seat or a female seat. The encoder assembly is coaxially connected to the motor assembly. A data communication interface and a power supply interface are also installed on the housing.

10. The modular robot arm joint module according to claim 1, characterized in that: An elastic limiter is connected to the shell. The elastic limiter on the robotic arm joint module cooperates with the elastic limiter or the shell on another robotic arm joint module to limit the rotation angle of the shell on the robotic arm joint module to avoid line entanglement.

Images