Mechanical arm assembly and robot

Abstract

The utility model relates to the technical field of mechanical arms, and provides a mechanical arm assembly and a robot, the mechanical arm assembly comprises a base, a mechanical arm, a manipulator, a supporting piece and an image acquirer, the mechanical arm is rotatably connected to the base; the manipulator is mounted at the free end of the mechanical arm and is suitable for grabbing a target object; the supporting piece is fixed to the free end of the mechanical arm and located on the peripheral side of the mechanical arm. The image acquirer is mounted on the supporting member and is used for acquiring an image of the target object. According to the mechanical arm assembly and the robot, the image acquirer installed on the supporting piece is suitable for acquiring the image of the target object when the mechanical arm works; the image acquirer is installed on the supporting piece, the supporting piece is fixed to the mechanical arm, fixing of the image acquirer is achieved, and the image acquirer is prevented from falling off in the working process.

Description

Technical Field

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

[0002] Home service robots all need to use a robotic arm. Some home service robots on the market will have an image acquirer (such as a camera) installed on the base of the robotic arm for safety monitoring. When a home service robot with an image acquirer encounters an obstacle, it can detect and avoid it in advance; however, the shooting angle of the image acquirer cannot change according to the movement of the robotic arm, and it is not flexible enough to use. If the image acquirer is directly installed on the robotic arm to locate and grasp the object, the fixation between the image acquirer and the robotic arm is unreliable, which can easily cause the camera to fall off. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model provides a mechanical arm assembly and a robot, which can firmly fix the image acquisition device of the mechanical arm assembly on the mechanical arm.

[0004] The utility model provides a mechanical arm assembly, comprising:

[0005] Base;

[0006] A mechanical arm, rotatably connected to the base;

[0007] A manipulator, mounted on the free end of the manipulator arm, the manipulator being suitable for grasping a target object;

[0008] A support member, fixed to the free end and located on the peripheral side of the mechanical arm;

[0009] An image acquirer is installed on the support member, and is used to acquire an image of the target object.

[0010] According to the robotic arm assembly of the embodiment of the utility model, the robotic arm includes a free end joint and a driving module, the support member is fixed to the free end joint, the interior of the free end joint forms a accommodating cavity for the driving module, and the interior of the support member forms an installation cavity for the image acquirer; the accommodating cavity is connected to the installation cavity.

[0011] According to the robotic arm assembly of the embodiment of the utility model, a first wiring hole is provided on the support member, and the first wiring hole is connected to the installation cavity; a second wiring hole is provided on the free end joint, and the second wiring hole is connected to the accommodating cavity; the first wiring hole and the second wiring hole are connected.

[0012] According to the robotic arm assembly of the embodiment of the utility model, the robotic arm assembly also includes a fill light, the fill light is arranged in the installation cavity, a light outlet is arranged on the support member, and the fill light illuminates the target object through the light outlet.

[0013] According to the robotic arm assembly of the embodiment of the utility model, the free end joint also includes a first shell and a second shell, and the first shell and the second shell rotate relatively; the robotic arm assembly also includes an indicator light, and the indicator light is arranged between the first shell and the second shell.

[0014] According to the robotic arm assembly of the embodiment of the utility model, a connection pin is provided on the first shell, a second through hole is provided on the second shell, the driving module includes a rotating section and a limiting section, the rotating section rotates relative to the limiting section; a connection port is formed at the end of the rotating section, the rotating section passes through the second through hole, and the connection port is connected to the connection pin, and the limiting section is located in the second shell.

[0015] According to the robotic arm assembly of the embodiment of the utility model, the support member includes a base and a shell; one side of the base has a mounting surface, and the mounting surface is attached to the peripheral side of the robotic arm; a mounting plate is provided on the side of the base away from the mounting surface, and the shell is connected to the mounting plate to form the mounting cavity.

[0016] According to the robotic arm assembly of the embodiment of the utility model, a connecting protrusion is arranged on the mounting surface, and a first through hole for the connecting protrusion to pass through is arranged on the robotic arm; a connecting plate fixedly connected to the connecting protrusion is arranged inside the robotic arm.

[0017] According to the robot arm assembly of the embodiment of the utility model, the robot comprises a robot arm body and an end cover, and the end cover is fixedly connected to the robot arm; the end cover is provided with a connecting portion on the side facing away from the robot arm, and the connecting portion is fixedly connected to the robot arm body.

[0018] The utility model also provides a robot, comprising the mechanical arm assembly.

[0019] The above one or more technical solutions in the embodiments of the utility model have at least one of the following technical effects:

[0020] The robotic arm is rotatably connected to the base, and the base is used to support the robotic arm; the robotic arm is installed at the free end of the robotic arm to facilitate the grasping of the target object; the image acquirer installed on the support is suitable for acquiring the image of the target object when the robotic arm is working; the image acquirer is installed on the support, and the support is fixed on the robotic arm to fix the image acquirer and prevent the image acquirer from falling during operation; the support is fixed to the free end of the robotic arm, which facilitates the synchronous movement of the image acquirer and the robotic arm located at the free end of the robotic arm, which is beneficial to the image acquirer assisting the grasping work of the robotic arm.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a three-dimensional structural schematic diagram of a mechanical arm assembly provided by an embodiment of the utility model;

[0024] Figure 2 It is a schematic diagram of the assembly relationship of the driving module, fill light, image acquisition device and free end joint of the mechanical arm assembly provided by the embodiment of the utility model;

[0025] Figure 3 It is a schematic diagram of the installation of the free end joint and the support seat of the mechanical arm assembly provided by the embodiment of the utility model;

[0026] Figure 4 It is a schematic diagram of the assembly relationship between the free end joint of the mechanical arm assembly and the mechanical hand provided in the embodiment of the utility model.

[0027] Reference numerals:

[0028] 100, base;

[0029] 200, mechanical arm; 210, connecting end; 220, free end; 230, free end joint; 231, accommodating cavity; 232, second wiring hole; 233, first shell; 234, second shell; 240, driving module; 241, rotating section; 242, limiting section; 250, movable section; 260, first through hole; 270, connecting plate;

[0030] 300, manipulator; 310, manipulator body; 320, end cover; 321, connecting part;

[0031] 400, support member; 410, mounting cavity; 420, light outlet; 430, base; 431, mounting surface; 440, housing; 450, mounting plate; 460, first wiring hole; 470, connecting protrusion;

[0032] 500, image acquisition device;

[0033] 600, fill light; 610, lampshade; 620, first light strip;

[0034] 700, indicator light; 710, lamp housing; 720, second light strip. DETAILED DESCRIPTION

[0035] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0036] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0037] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0038] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0039] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0040] Home service robots all need to use a robotic arm. Some home service robots on the market will have a camera installed on the base of the robotic arm so that they can detect and avoid obstacles in advance; however, the camera's shooting angle cannot change according to the movement of the robotic arm, and it is not flexible enough to use. If the camera is directly installed on the robotic arm to locate and grab objects, the robotic arm works in a small space, such as grabbing clothes in a small washing drum. At this time, the camera is easy to rub against the inner wall of the washing drum, causing the camera to fall or be damaged.

[0041] See also Figures 1 to 2 The first aspect of the utility model provides a robot arm assembly, including a base 100, a robot arm 200, a robot hand 300, a support member 400 and an image acquirer 500, wherein the robot arm 200 is rotatably connected to the base 100; the robot hand 300 is installed at the free end 220 of the robot arm 200, and the robot hand 300 is suitable for grasping a target object; the support member 400 is fixed to the free end 220 of the robot arm 200 and is located on the peripheral side of the robot arm 200; the image acquirer 500 is installed on the support member 400, and the image acquirer 500 is used to acquire an image of the target object.

[0042] The robotic arm 200 is rotatably connected to the base 100, and the base 100 is used to support the robotic arm 200; the robotic arm 300 is installed at the free end 220 of the robotic arm 200 to facilitate the grasping of the target object; the image acquirer 500 installed on the support 400 is suitable for acquiring the image of the target object when the robotic arm 200 is working; the image acquirer 500 is installed on the support 400, and the support 400 is fixed on the robotic arm 200 to achieve the fixation of the image acquirer 500 and prevent the image acquirer 500 from falling during the working process; the support 400 is fixed to the free end 220 of the robotic arm 200, which facilitates the synchronous movement of the image acquirer 500 and the robotic arm 300 located at the free end 220 of the robotic arm 200, which is beneficial for the image acquirer 500 to assist the robotic arm 300 in grasping.

[0043] It is understandable that the image acquirer 500 is an electronic component, which is relatively fragile. In addition, the image acquirer 500 is generally a standard component, which is not easy to process and improve. If the image acquirer 500 is directly installed on the robot arm 200, the installation is unreliable, which makes the image acquirer 500 easy to fall off. The support member 400 is a non-standard component, and its structure is easy to improve and process, so that the support member 400 can be firmly fixed on the robot arm 200, thereby improving the reliability of the connection between the image acquirer 500 and the robot arm 200.

[0044] Generally, the robot arm 200 has a connection end 210 and a free end 220. The connection end 210 and the free end 220 of the robot arm are located at the two ends respectively relative to the middle position of the robot arm; the connection end 210 is rotatably connected to the base 100, and the free end 220 can move freely. The support 400 is arranged at the free end 220 of the robot arm 200, which is conducive to the image acquirer 500 changing different shooting angles, and when grabbing a dynamic target object, it is conducive to the image acquirer 500 to acquire the image of the target object; the support 400 is fixed to the free end 220 of the robot arm 200 and is located on the peripheral side of the robot arm 200. If the target object is located in a small space, the image acquirer 500 located on the support 400 can move synchronously with the robot arm 300 to the space where the target object is located, so as to facilitate the real-time acquisition of the image of the target object.

[0045] It is understandable that the support member 400 supports and protects the image acquisition device 500. If the image acquisition device 500 is directly set on the robot arm 200, the image acquisition device 500 is easy to hit obstacles during the operation of the robot arm 200, especially in a narrow operating environment, causing the image acquisition device 500 to fall off, be knocked crooked or damaged. Due to the protective effect of the support member 400, the image acquisition device 500 does not need to directly contact obstacles, which greatly reduces the risk of the image acquisition device 500 falling off or being damaged. Furthermore, due to the fixing effect of the support member 400, the image acquisition device 500 can be better fixed on the free end 220 of the robot arm 200 to prevent the image acquisition device 500 from shifting. The support member 400 can be block-shaped, plate-shaped, etc. The embodiment of the utility model does not specifically limit the specific structure of the support member 400.

[0046] It is understandable that the image acquirer 500 is a device for acquiring dynamic or static images, such as a camera or a video recorder. The embodiment of the utility model does not specifically limit the specific structure of the image acquirer 500. The image acquirer 500 may be in a strip shape to accommodate more cameras, thereby acquiring images with a wider field of view; the image acquirer 500 may integrate different types of cameras to achieve different functions. For example, the image acquirer 500 may include a wide-angle lens, a zoom lens, an infrared sensor, etc., to meet the needs of different application scenarios. Furthermore, the strip design can make the structure more compact and save installation space.

[0047] See also Figure 1 to Figure 2 In one embodiment, the robot arm 200 includes a free end joint 230 and a driving module 240, the support member 400 is fixed to the free end joint 230, the interior of the free end joint 230 forms a accommodating cavity 231 for the driving module 240, and the interior of the support member 400 forms an installation cavity 410 for the image acquirer 500; the accommodating cavity 231 is connected to the installation cavity 410.

[0048] It can be understood that the free end joint 230 is arranged at the free end 220 of the robot arm 200; the driving module 240 is located inside the accommodating cavity 231 to prevent the driving module 240 from being exposed; the image acquisition device 500 is arranged inside the installation cavity 410, and the installation cavity 410 provides a physical barrier for the image acquisition device 500, isolating the image acquisition device 500 from the external environment, thereby effectively preventing the image acquisition device 500 from being damaged by external impurities, dust, water droplets, etc. The image acquisition device 500 is arranged inside the installation cavity 410, and can also play a certain anti-vibration and vibration reduction effect, by absorbing external impact force, reducing the impact of vibration on the image acquisition device 500, thereby improving the stability and image quality of the image acquisition device 500.

[0049] It can be understood that the accommodating cavity 231 is connected to the installation cavity 410, and the wires connected to the image acquirer 500 can enter the accommodating cavity 231, thereby storing the wires and preventing the wires from being entangled and affecting the operation of the robotic arm 200; generally, the driving module 240 includes a motor and a reducer, and the driving module 240 is suitable for driving the rotation of the robotic arm 300.

[0050] The embodiment of the utility model also includes a controller (not shown in the figure), which is a device suitable for controlling the movement of the robotic arm 200. The controller is responsible for receiving instructions input by the user and converting these instructions into electrical signals to drive the robotic arm 200 to move; the controller can be set on the base 100 to reduce the space occupied by the robotic arm 200.

[0051] It can be understood that a placement cavity is provided inside the base 100, and the controller is arranged in the placement cavity to prevent external impurities, dust, water droplets, etc. from damaging the controller; a wiring channel is formed inside the robotic arm 200, and the wiring channel connects the placement cavity and the accommodating cavity 231, and the driving module 240 and the image acquisition device 500 can be electrically connected to the controller through the wiring channel.

[0052] See also Figure 1 The robot arm 200 is a multi-degree-of-freedom robot arm 200, and the robot arm 200 has multiple movable segments 250, and the multiple movable segments 250 are rotatably connected in pairs; for example, the robot arm 200 may include six movable segments 250, and the six movable segments 250 are rotatably connected in pairs. The movable segment 250 located at the head end is connected to the base 100, and the movable segment 250 located at the end is connected to the free end joint 230 to achieve multiple degrees of freedom of movement.

[0053] See also Figure 2 The robotic arm assembly of the embodiment of the utility model further includes a fill light 600 , which is disposed in the mounting cavity 410 , and a light outlet 420 is disposed on the support member 400 , through which the fill light 600 illuminates the target object.

[0054] It is understandable that the fill light 600 can provide good lighting; when the robot arm 200 performs tasks, it needs a clearly visible working environment, and the fill light 600 can provide lighting of sufficient brightness to ensure that the robot arm 200 can accurately perceive and operate the target object and reduce the error rate. Especially in an operating environment with insufficient light, the fill light 600 can well improve the field of view and illuminate the area where the target object is located, so that the image acquisition device 500 of the robot arm 200 can perform tasks more accurately.

[0055] It is understandable that the fill light 600 is arranged in the installation cavity 410 to protect the fill light 600: the fill light 600 usually uses a relatively fragile bulb or LED as a light source, and the surface of the bulb is often exposed. The fill light 600 is arranged in the installation cavity 410 to prevent the fill light 600 from being damaged by external collisions, friction, dust and other objects, thereby extending the service life of the light source. The support 400 is provided with a light outlet 420, through which the fill light 600 illuminates the target object. The light outlet 420 plays a role of focusing light, which is conducive to the fill light 600 accurately illuminating the target object; some fill lights 600 have a high brightness, and if the fill light 600 is directly exposed to the line of sight, glare may be caused. In addition, the installation cavity 410 can block the erosion of dust, moisture, chemicals, etc. on the fill light 600, ensuring that the fill light 600 can work normally and reducing the frequency of maintenance and replacement.

[0056] See also Figure 1 and Figure 2 In one embodiment, the fill light 600 can be arranged on the same side as the image acquirer 500, so that the fill light 600 can assist the image acquirer 500 in its work; for example, the fill light 600 can be arranged on the side of the image acquirer 500 close to the manipulator 300 to illuminate the target object. When the image acquirer 500 is in a strip shape, the fill light 600 is designed in a strip shape to match the shape of the image acquirer 500.

[0057] See also Figure 2 In one embodiment, the fill light 600 may include a lamp bead and a lampshade 610. The lampshade 610 is at least partially located at the light outlet 420. The lampshade 610 is used to block the light directly emitted by the lamp bead. By scattering and shielding, the light is made softer and more uniform, and the light becomes softer to avoid strong glare. The lampshade 610 can prevent dust, insects and other debris from entering the interior of the lamp, and protect the cleanliness and safety of the bulb and internal parts of the lamp. The fill light 600 may include a first light strip 620, which is used to adapt to the strip shape of the fill light 600; a plurality of lamp beads are arranged on the first light strip 620 to achieve an illumination effect; the first light strip 620 can completely block the light outlet 420, which is convenient for installation and makes the light more uniform.

[0058] See also Figure 2 In one embodiment, the support member 400 includes a base 430 and a shell 440; one side of the base 430 has a mounting surface 431, and the mounting surface 431 is attached to the peripheral side of the robot arm 200; a mounting plate 450 is provided on the side of the base 430 away from the mounting surface 431, and the shell 440 is connected to the mounting plate 450 to form a mounting cavity 410.

[0059] It can be understood that the mounting surface 431 fits the circumferential side of the robot arm 200, so that the connection between the base 430 and the robot arm 200 is tighter; the base 430 plays a load-bearing role, and generally, the base 430 is a block so as to better play the load-bearing effect; the mounting surface 431 can be arc-shaped to fit the side of the cylindrical robot arm 200. At the same time, the arc-shaped mounting surface 431 can increase the contact area between the base 430 and the robot arm 200 to increase the force-bearing area, so that the installation of the image acquirer 500 is more stable.

[0060] It is understandable that the mounting plate 450 is disposed on a side of the base 430 away from the mounting surface 431, and the housing 440 is connected to the mounting plate 450 to form a mounting cavity 410. Therefore, when the image acquirer 500 or the fill light 600 is disassembled and installed, the interference with the robot arm 200 can be reduced, and the impact of the operation of disassembling the image acquirer 500 or the fill light 600 on the mounting surface 431 can be reduced, so as to avoid the base 430 being separated from the robot arm 200 due to excessive force during the operation. The housing 440 is connected to the mounting plate 450 to form the mounting cavity 410, and the image acquirer 500 or the fill light 600 can be installed or disassembled by removing the housing 440, which is simple and convenient to operate.

[0061] It can be understood that a first connecting column is provided on the mounting plate 450, and a first connecting groove is provided on the end face of the first connecting column, and a second connecting column is provided on the shell 440 (the first connecting column, the first connecting groove and the second connecting column are not marked in the figure), and the shell 440 can be installed on the mounting plate 450 by engaging the second connecting column with the first connecting groove; the image acquirer 500 is fixed on the mounting plate 450, and the image acquirer 500 can be fixed on the mounting plate 450 by threaded connection. Since the mounting plate 450 is a plate body, it is convenient to thread and fix it from the back side of the mounting plate 450; a fixing groove is provided on the mounting plate 450 to facilitate fixing the fill light 600 and prevent the fill light 600 from moving, and the light outlet 420 is provided on the shell 440, which is conducive to irradiating the target object; an image acquisition window corresponding to the image acquirer 500 is provided on the shell 440, which is convenient for the image acquirer 500 to acquire the image of the target object.

[0062] See also Figure 1 to Figure 2 In one embodiment, a first wiring hole 460 is provided on the support member 400, and the first wiring hole 460 is connected to the installation cavity 410; a second wiring hole 232 is provided on the free end joint 230, and the second wiring hole 232 is connected to the accommodating cavity 231; the first wiring hole 460 and the second wiring hole 232 are connected.

[0063] It can be understood that the first wiring hole 460 and the second wiring hole 232 are connected, so that the wires of the image acquisition device 500 and the fill light 600 can enter the accommodating cavity 231 through the first wiring hole 460 and the second wiring hole 232, and then connect to the controller through the wiring channel inside the robot 200. The setting of the first wiring hole 460 and the second wiring hole 232 is more conducive to hiding the wires and avoiding exposure of the wires; since the working environment of the robot 200 is usually more complicated, setting the wires inside can avoid contact between the wires and the external environment, thereby reducing the possibility of damage to the wires by extrusion, friction, etc. during the movement of the robot 200. At the same time, the setting of the first wiring hole 460 and the second wiring hole 232 can also guide the routing of the wires and avoid entanglement of the wires. The first wiring hole 460 can be set on the installation surface 431, and the second wiring hole 232 can be set correspondingly on the side that is in contact with the installation surface 431 for easy installation. Two first wiring holes 460 and two second wiring holes 232 can be set respectively for easy routing.

[0064] See also Figures 2 to 3 In one embodiment, a connecting protrusion 470 is provided on the mounting surface 431, and a first through hole 260 for the connecting protrusion 470 to pass through is provided on the mechanical arm 200; a connecting plate 270 fixedly connected to the connecting protrusion 470 is provided inside the mechanical arm 200. Through the cooperation between the connecting protrusion 470 and the first through hole 260, the support member 400 is fixed, and at the same time, the first through hole 260 has a positioning effect, which facilitates the confirmation of the installation position of the support member 400. The connecting protrusion 470 can be in the shape of a sheet, a block, a cylinder, etc., and the shape of the first through hole 260 matches the connecting protrusion 470. The embodiment of the utility model does not specifically limit the specific shapes of the connecting protrusion 470 and the first through hole 260. Generally, the connecting protrusion 470 can be rectangular, and correspondingly, the first through hole 260 is square, which can prevent the support member 400 from deflecting. The connecting plate 270 can be connected to the inner wall of the mechanical arm 200.

[0065] See also Figures 1 to 4In one embodiment, the manipulator 300 includes a manipulator body 310 and an end cover 320, and the end cover 320 is fixedly connected to the manipulator arm 200; the end cover 320 is provided with a connecting portion 321 on the side facing away from the manipulator arm 200, and the connecting portion 321 is fixedly connected to the manipulator body 310. During installation, the end cover 320 is connected to the manipulator arm 200, and then the manipulator body 310 is installed on the end cover 320, which is convenient for installation; the end cover 320 and the connecting portion 321 can be snap-fitted or threadedly connected, and since the end cover 320 is directly covered on the end of the manipulator arm 200, the operation during installation is very simple; at the same time, as a part of the manipulator 300, the driving components of the manipulator 300 can be installed on the end cover 320, and the end cover 320 plays the role of supporting the manipulator 300 and isolating the manipulator arm 200. The connection part 321 and the robot body 310 can be fixedly connected by means of a snap connection or a threaded connection. The embodiment of the utility model does not specifically limit the connection method between the connection part 321 and the robot body 310. The connection part 321 is block-shaped and can be arranged at the edge of the end cover 320 to free up more accommodation space in the middle of the end cover 320; a first threaded hole can be arranged on the side wall of the robot arm 200, and a corresponding second threaded hole can be arranged on the connection part 321 to achieve the connection between the robot arm 200 and the end cover 320.

[0066] See also Figure 1 to Figure 2 In one embodiment, the free end joint 230 further includes a first shell 233 and a second shell 234 , and the first shell 233 and the second shell 234 rotate relative to each other; the robotic arm assembly further includes an indicator light 700 , and the indicator light 700 is disposed between the first shell 233 and the second shell 234 .

[0067] The indicator light 700 is used to convey the current state of the robot arm 200. The indicator light 700 is arranged between the first shell 233 and the second shell 234. The first shell 233 and the second shell 234 are connected to complete the installation of the indicator light 700. Generally, the free end joint 230 is cylindrical, and the first shell 233 and the second shell 234 are both cylindrical; the indicator light 700 can be annular, and the annular indicator light 700 is sandwiched between the first shell 233 and the second shell 234, which is convenient for observing the working condition of the indicator light 700 from the peripheral side of the robot arm 200; the outer diameter of the indicator light 700 can be equal to the outer diameter of the free end joint 230. If the outer diameter of the indicator light 700 is larger than the outer diameter of the free end joint 230, the indicator light 700 will protrude from the free end joint 230, increase the overall size of the robot arm 200, and also affect the appearance; if the outer diameter of the indicator light 700 is smaller than the outer diameter of the free end joint 230, it is not conducive to installation, and it is also easy to form a groove on the surface of the robot arm 200, which is not conducive to cleaning. The first shell 233 and the second shell 234 can be rotatably connected. Figure 2The indicator light 700 includes a lamp housing 710 and a second light strip 720. Correspondingly, the lamp housing 710 and the second light strip 720 are ring-shaped. The lamp housing 710 is arranged between the first shell 233 and the second shell 234, and the second light strip 720 is arranged inside the lamp housing 710. The lamp housing 710 is at least partially made of light-transmitting material, which is convenient for observing the working status of the indicator light 700 from the outside of the robotic arm 200.

[0068] See also Figure 2 In one embodiment, a connection pin is provided on the first shell 233, and a second through hole is provided on the second shell 234. The driving module 240 includes a rotating section 241 and a limiting section 242. The rotating section 241 rotates relative to the limiting section 242. A connection port is formed at the end of the rotating section 241. The rotating section 241 passes through the second through hole, and the connection port is connected to the connection pin. The limiting section 242 is located in the second shell 234. When the limiting section 242 is set inside the second shell 234, the rotating section 241 can be connected to the second shell 234 through the second through hole. At this time, the connection pin cooperates with the connection port to facilitate the connection between the first shell 233 and the second shell 234. At the same time, the rotating section 241 can drive the first shell 233 to rotate, thereby realizing the rotation of the free end joint 230.

[0069] A second aspect of the utility model provides a robot, including a mechanical arm assembly.

[0070] It can be understood that if the robotic arm assembly has the beneficial effects of the above embodiments, then the robot will correspondingly have the beneficial effects of the above embodiments. The specific implementation methods thereof may refer to the above embodiments, and will not be described in detail in this application.

[0071] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A robotic arm assembly, characterized in that: include: Base (100); A mechanical arm (200) rotatably connected to the base (100); A manipulator (300) mounted on the free end (220) of the manipulator arm (200), the manipulator (300) being suitable for grasping a target object; A support member (400) is fixed to the free end (220) and is located on the peripheral side of the mechanical arm (200); An image acquirer (500), the image acquirer (500) being mounted on the support member (400), and the image acquirer (500) being used to acquire an image of the target object.

2. The mechanical arm assembly according to claim 1, characterized in that: The mechanical arm (200) comprises a free end joint (230) and a driving module (240); the support member (400) is fixed to the free end joint (230); a receiving cavity (231) for the driving module (240) is formed inside the free end joint (230); and a mounting cavity (410) for the image acquirer (500) is formed inside the support member (400); the receiving cavity (231) is in communication with the mounting cavity (410).

3. The mechanical arm assembly according to claim 2, characterized in that: The support member (400) is provided with a first wiring hole (460), and the first wiring hole (460) is connected to the installation cavity (410); the free end joint (230) is provided with a second wiring hole (232), and the second wiring hole (232) is connected to the accommodating cavity (231); the first wiring hole (460) and the second wiring hole (232) are connected.

4. The mechanical arm assembly according to claim 2, characterized in that: The robotic arm assembly also includes a fill light (600), which is disposed in the mounting cavity (410). A light outlet (420) is disposed on the support member (400), and the fill light (600) illuminates the target object through the light outlet (420).

5. The mechanical arm assembly according to claim 2, characterized in that: The free end joint (230) comprises a first shell (233) and a second shell (234), wherein the first shell (233) and the second shell (234) rotate relative to each other; the mechanical arm assembly further comprises an indicator light (700), wherein the indicator light (700) is arranged between the first shell (233) and the second shell (234).

6. The robot arm assembly according to claim 5, characterized in that: The first shell (233) is provided with a connection pin, the second shell (234) is provided with a second through hole, the driving module (240) comprises a rotating section (241) and a limiting section (242), the rotating section (241) rotates relative to the limiting section (242); a connection port is formed at the end of the rotating section (241), the rotating section (241) passes through the second through hole, and the connection port is connected to the connection pin, and the limiting section (242) is located in the body of the second shell (234).

7. The robot arm assembly according to claim 2, characterized in that: The support member (400) includes a base (430) and a shell (440); one side of the base (430) has a mounting surface (431), and the mounting surface (431) is attached to the peripheral side of the robot arm (200); a mounting plate (450) is provided on the side of the base (430) away from the mounting surface (431), and the shell (440) is connected to the mounting plate (450) to form the mounting cavity (410).

8. The robot arm assembly according to claim 7, characterized in that: A connecting protrusion (470) is provided on the mounting surface (431), and a first through hole (260) for the connecting protrusion (470) to pass through is provided on the mechanical arm (200); a connecting plate (270) fixedly connected to the connecting protrusion (470) is provided inside the mechanical arm (200).

9. The robot arm assembly according to any one of claims 1 to 6, characterized in that: The manipulator (300) comprises a manipulator body (310) and an end cover (320), wherein the end cover (320) is fixedly connected to the manipulator arm (200); the end cover (320) is provided with a connecting portion (321) on a side facing away from the manipulator arm (200), and the connecting portion (321) is fixedly connected to the manipulator body (310).

10. A robot, characterized in that: A robotic arm assembly comprising any one of claims 1 to 9.

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