Modularized reconfigurable mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, in particular to a modularized reconfigurable mechanical arm which comprises a rotating joint, a clamping component and a plurality of swinging joints. Quick release structures are respectively formed between the rotating joint and the swinging joints, between the swinging joints and between the clamping component and the swinging joints; the rotating joint and the swing joints, the clamping component and the swing joints and the two adjacent swing joints are detachably connected through the quick release structures. According to the modularized reconfigurable mechanical arm, the mechanical arm has a reconfiguration function, and the application range of mechanical arm products is effectively widened.

Description

Technical Field

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

[0002] The rapid development and wide application of robotics and artificial intelligence have attracted great attention from the country and all walks of life. The functional innovation of robots is constantly promoted to meet further needs, from single repetitive assembly line tasks to further complex scenarios such as deep-sea exploration, field surveys, and rehabilitation medicine. With people's higher demands and the development of various new fields, robots are required to have stronger work adaptability and task capabilities. In the face of different application scenarios, the configuration and configuration of robots often need to be redesigned to complete a specific, narrow task. Taking the commonly used robotic arms as an example, the current robotic arms are mainly used in industrial production or only need to complete services in a specific mode. Therefore, the structural shape of the robotic arm products is often pre-determined before leaving the factory, which is not easy to disassemble and reassemble, resulting in the lack of reconstruction function of the robotic arm, which makes it impossible for users to reconstruct the robotic arm according to different application scenarios. For example, in the face of different working heights, ranges of activity, etc., users can only re-customize the robotic arm to match the work scenario, resulting in users needing to invest high capital costs.

[0003] In summary, since the robot arm structure of the prior art lacks reconstruction function, the application scope of the robot arm products is relatively narrow. Utility Model Content

[0004] In order to solve the technical problems existing in the prior art to a certain extent as much as possible, the utility model provides a modular reconfigurable robotic arm, which can enable the robotic arm to have a reconstruction function and effectively improve the application scope of the robotic arm product.

[0005] The utility model discloses a modular reconfigurable mechanical arm, comprising a rotating joint, a clamping component and a swinging joint, wherein the number of the swinging joints is several;

[0006] Wherein, a quick-release structure is respectively formed between the rotating joint and the swing joint, between each of the swing joints, and between the clamping component and the swing joint;

[0007] The rotating joint and the swing joint, the clamping component and the swing joint, and two adjacent swing joints are detachably connected to each other through the quick-release structure.

[0008] According to the modular reconfigurable robotic arm according to claim, the quick-detachable structure comprises:

[0009] A dovetail groove is integrally formed on the rotating joint or the clamping component or the swinging joint;

[0010] A dovetail platform, integrally formed on the rotating joint or the clamping component or the swinging joint;

[0011] Wherein, the dovetail groove and the dovetail platform are mutually matched and sleeved between the rotating joint and the swinging joint;

[0012] The dovetail groove and the dovetail platform are mutually sleeved between the clamping component and the swing joint;

[0013] The dovetail groove and the dovetail platform are mutually matched and sleeved between two adjacent swing joints.

[0014] According to the modular reconfigurable robotic arm according to claim, the quick-detachable structure further comprises:

[0015] A limiting hole is provided on the bottom plane of the dovetail groove;

[0016] A positioning steel ball is arranged on the dovetail platform and elastically protrudes on the top plane of the dovetail platform;

[0017] When the dovetail platform is sleeved into the inside of the dovetail groove, the positioning steel ball and the limiting hole are mutually engaged.

[0018] According to the modular reconfigurable robotic arm of claim 1, the number of the limiting holes is several, and each of the limiting holes is arranged in a straight line along the direction in which the dovetail platform enters the dovetail groove;

[0019] The number of the positioning steel balls is several, and each positioning steel ball corresponds to each of the limiting holes.

[0020] According to the modular reconfigurable robotic arm of the claim, a spring tube is fixedly sleeved in the dovetail platform, and the positioning steel ball is slidably sleeved in the spring tube;

[0021] A spring is arranged inside the spring tube, one end of the spring is fixedly connected to the spring tube, and the other end of the spring is elastically connected to the positioning steel ball and elastically drives the positioning steel ball to protrude outward.

[0022] According to the modular reconfigurable robotic arm of claim 1, a plurality of first metal contacts are provided in the dovetail groove;

[0023] A plurality of second metal contacts are arranged on the dovetail platform;

[0024] When the dovetail platform is fitted and sleeved into the inside of the dovetail groove, each of the first metal contacts is in contact with each of the second metal contacts.

[0025] According to the modular reconfigurable robotic arm of the claim, the swing joint comprises a fixed seat, a dual-axis servo and a C-shaped arm;

[0026] The fixing seat is formed with a mounting groove, and the dual-axis steering gear is fixedly sleeved in the mounting groove;

[0027] The power output shaft of the dual-axis steering gear is located in the inner cavity of the C-shaped arm and is transmission-connected to the side plates on opposite sides of the C-shaped arm.

[0028] According to the modular reconfigurable robotic arm of claim 1, the rotary joint comprises a bottom shell, a rotary servo and a rotary seat;

[0029] The rotating seat is detachably connected to the swing joint via the quick-release structure;

[0030] The rotary steering gear is fixedly accommodated inside the bottom shell, and a power output shaft of the rotary steering gear passes through the bottom shell and is transmission-connected to the rotary seat.

[0031] According to the modular reconfigurable robotic arm of claim 1, the clamping component comprises a docking seat, a clamping servo, and a movable clamping head;

[0032] The docking seat is detachably connected to the swing joint via the quick-release structure;

[0033] The chuck servo is fixedly accommodated in the docking seat, and a power output shaft of the chuck servo passes through the docking seat and is transmission-connected to the movable chuck to drive the movable chuck to be movable opened and closed.

[0034] According to the modular reconfigurable robotic arm of claim 1, the movable clamping head comprises a left clamping arm and a right clamping arm pivotally connected to the docking seat;

[0035] The free end of the left clamp arm is integrally formed with a plurality of first transmission teeth arranged in an arc shape; the free end of the right clamp arm is integrally formed with a plurality of second transmission teeth arranged in an arc shape; the first transmission teeth and the second transmission teeth are meshed with each other;

[0036] The docking seat is provided with a transmission gear located between the left clamp arm and the right clamp arm, and the power output shaft of the clamp servo is coaxially connected to the transmission gear;

[0037] The free end of the right clamp arm is integrally formed with a plurality of third transmission teeth arranged in an arc shape; the third transmission teeth and the second transmission teeth are layered and staggered; and the transmission gear and the third transmission teeth are meshed with each other.

[0038] A modular reconfigurable mechanical arm of the utility model sets a plurality of swing joints in the original mechanical arm structure, and quick-release structures are respectively formed between the rotating joint and the swing joint of the mechanical arm, between each of the swing joints, and between the clamping component and the swing joint. When the mechanical arm is installed, the rotating joint and the swing joint, the clamping component and the swing joint, and two adjacent swing joints are respectively detachably connected to each other through the quick-release structures. Due to this structure, a suitable number of swing joints can be selected according to the actual use scenario, and then two adjacent swing joints can be easily connected to each other through the quick-release structure. After the swing joint part that meets the use needs is completed, the quick-release structure can be used to easily connect one of the swing joints. On the rotating joint of the robotic arm, the quick-release structure can also be used to simply connect the clamping component of the robotic arm to one of the swing joints. The construction process of the entire robotic arm is simple. On the contrary, as long as the quick-release structures are disassembled, the rotating joint, the clamping component and the swing joints can be easily separated from each other. Subsequently, the quick-release structure can be used again to reconnect the rotating joint, the clamping component and the swing joints according to different usage scenarios, so as to easily realize the modular reconstruction of the robotic arm, so that the robotic arm has a reconstruction function. Therefore, the user can quickly reconstruct a robotic arm that meets the needs of use according to the actual usage scenarios, such as the working height, range of motion, etc. of the robotic arm, effectively improving the scope of application of the robotic arm products. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is the overall structure diagram of the utility model;

[0041] Figure 2 It is a partial structural diagram of the utility model;

[0042] Figure 3 It is a partial structural diagram of the utility model;

[0043] Figure 4 It is a partial structural diagram of the utility model;

[0044] Figure 5 It is a partial structural diagram of the utility model;

[0045] Figure 6 It is a partial structural diagram of the utility model;

[0046] Figure 7 It is a partial structural diagram of the utility model (the bottom shell of the rotating joint is hidden);

[0047] Figure 8 It is a partial structural diagram of the utility model;

[0048] Fig. 9 It is a partial structural diagram of the utility model;

[0049] Fig.10 It is a partial structural diagram of the utility model (the docking seat of the clamping component is hidden);

[0050] Fig.11 It is a partial structural diagram of the utility model;

[0051] Fig.12 It is an optional structural diagram of the utility model;

[0052] Fig.13 yes Fig.12 An alternative approach is to use a state diagram.

[0053] Reference numerals:

[0054] 1. Rotating joint, 2. Clamping part, 3. Swinging joint, 4. Dovetail groove, 5. Dovetail platform, 6. Limiting hole, 7. Positioning steel ball, 8. Spring tube, 9. First metal contact,

[0055] 10. Second metal contact, 11. Fixed seat, 12. Dual-axis servo, 13. C-shaped arm, 14. Mounting groove, 15. Bottom shell, 16. Rotating servo, 17. Rotating seat, 18. Docking seat, 19. Clamp servo, 20. Movable chuck, 21. Left clamp arm, 22. Right clamp arm, 23. First transmission tooth, 24. Second transmission tooth, 25. Transmission gear, 26. Third transmission tooth, 27. Limiting piece. DETAILED DESCRIPTION

[0056] The embodiments of the utility model are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the utility model, and cannot be understood as limitations on the utility model. In the description of the utility model, it is necessary to understand that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the 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 limitations on the utility model.

[0057] like Figures 1 to 11 As shown, a modular reconfigurable robotic arm of the present embodiment comprises a rotating joint 1, a clamping component 2 and a swinging joint 3, wherein the number of the swinging joints 3 of the present embodiment is set to be multiple, and also comprises multiple quick-release structures, each quick-release structure is respectively constructed between the rotating joint 1 and the swinging joint 3, between each swinging joint 3, and between the clamping component 2 and the swinging joint 3. During installation, the rotating joint 1 and the swinging joint 3, the clamping component 2 and the swinging joint 3, and two adjacent swinging joints 3 are respectively detachably connected to each other through the quick-release structures.

[0058] It can be understood that in this embodiment, the original swing joint 3 in the mechanical arm structure is set to be multiple, and quick-release structures are respectively formed between the rotating joint 1 and the swing joint 3 of the mechanical arm, between each swing joint 3, and between the clamping part 2 and the swing joint 3. When installing the mechanical arm, the rotating joint 1 and the swing joint 3, the clamping part 2 and the swing joint 3, and two adjacent swing joints 3 are respectively detachably connected to each other through the quick-release structure. Due to this structure, a suitable number of swing joints 3 can be selected according to the actual use scenario, and then two adjacent swing joints 3 can be easily connected to each other through the quick-release structure. After the swing joint 3 that meets the use needs is completed, one of the swing joints 3 can be easily connected to the machine using the quick-release structure. On the rotating joint 1 of the robotic arm, the clamping part 2 of the robotic arm can also be simply connected to one of the swing joints 3 by using the quick-release structure. The construction process of the entire robotic arm is simple. On the contrary, as long as the quick-release structures are disassembled, the rotating joint 1, the clamping part 2 and the swing joints 3 can be easily separated from each other. Subsequently, the rotating joint 1, the clamping part 2 and the swing joints 3 can be reconnected by using the quick-release structure according to different usage scenarios. The modular reconstruction of the robotic arm is easily realized, and the robotic arm has a reconstruction function. Therefore, the user can quickly reconstruct the robotic arm that meets the usage needs according to the actual usage scenario needs, such as the working height, range of motion, etc. of the robotic arm, effectively improving the scope of application of the robotic arm products.

[0059] The structure of the above-mentioned quick-release structure includes a dovetail groove 4 and a dovetail platform 5 that cooperate with each other, that is, the dovetail platform 5 can be cooperatively sleeved in the dovetail groove 4, and the dovetail groove 4 and the dovetail platform 5 are respectively integrally formed on the rotating joint 1 or the clamping component 2 or the swinging joint 3. In the present embodiment, optionally, the bottom of the clamping component 2 and the bottom of each swinging joint 3 are respectively integrally formed with a dovetail platform 5, and the top of the rotating joint 1 and the top of each swinging joint 3 are respectively integrally formed with a dovetail groove 4. Therefore, the rotating joint 1 and the lower swinging joint 3 can be easily connected to each other through the dovetail groove 4 and the dovetail platform 5 that cooperate with each other, and the clamping component 2 and the upper swinging joint 3 can also be easily connected to each other through the dovetail groove 4 and the dovetail platform 5 that cooperate with each other, and the two adjacent swinging joints 3 can also be easily connected to each other through the dovetail groove 4 and the dovetail platform 5 that cooperate with each other. Through the above structure, the various parts of the robot arm can be easily connected, so that the robot arm has a reconfiguration function. The robot arm can be easily reconfigured by selecting a suitable number of swing joints 3 according to actual needs, thereby improving the applicability of the robot arm.

[0060] In order to further ensure the fixed connection of each part of the mechanical arm, the quick-release structure of this embodiment also includes a limiting hole 6 and a positioning steel ball 7. The limiting hole 6 is provided on the bottom plane of the dovetail groove 4. The bottom plane of each dovetail groove 4 of this embodiment is provided with a limiting hole 6, and the positioning steel ball 7 is installed on the dovetail platform 5, and the positioning steel ball 7 elastically protrudes on the top plane of the dovetail platform 5. Each dovetail platform 5 of this embodiment is installed with a positioning steel ball 7. When the dovetail platform 5 is fitted into the inside of the dovetail groove 4, the positioning steel ball 7 and the limiting hole 6 are mutually engaged to limit the dovetail groove 4 and the dovetail platform 5 from being misaligned or separated from each other, so as to ensure the fixed connection between the clamping part 2 and the swing joint 3, the rotating joint 1 and the swing joint 3, and each swing joint 3 of the mechanical arm. In the actual installation process, when the dovetail platform 5 gradually enters the dovetail groove 4, the positioning steel ball 7 is elastically retracted into the dovetail platform 5 due to the pressure of the bottom plane of the dovetail groove 4. When the positioning steel ball 7 reaches the position of the limiting hole 6, the bottom plane of the dovetail groove 4 no longer squeezes the positioning steel ball 7, and the positioning steel ball 7 can elastically protrude again and enter the limiting hole 6, so that the positioning steel ball 7 can be mutually engaged with the limiting hole 6. It should be noted that the part of the positioning steel ball 7 entering the limiting hole 6 cannot exceed half of the positioning steel ball 7, so as to ensure that the dovetail platform 5 can naturally escape from the limiting hole 6 when it is detached from the dovetail groove 4.

[0061] Preferably, there are multiple limiting holes 6, and each limiting hole 6 is arranged in a straight line along the direction in which the dovetail platform 5 enters the dovetail groove 4. Correspondingly, there are multiple positioning steel balls 7, and each positioning steel ball 7 corresponds to each limiting hole 6. When the dovetail platform 5 is fitted inside the dovetail groove 4, multiple groups of positioning steel balls 7 and the limiting holes 6 are engaged with each other, and since these positioning steel balls 7 are engaged with each limiting hole 6 along the direction in which the dovetail platform 5 enters the dovetail groove 4, the dovetail platform 5 can be prevented from easily slipping or falling out in the dovetail groove 4, so that the connection between the dovetail platform 5 and the dovetail groove 4 is more stable.

[0062] Specifically, a spring tube 8 is fixedly sleeved inside the dovetail platform 5, and the positioning steel ball 7 is slidably sleeved inside the spring tube 8. In addition, a spring (not shown in the figure) is arranged inside the spring tube 8, one end of the spring is fixedly connected to the spring tube 8, and the other end is elastically connected to the positioning steel ball 7, so that the elasticity of the spring can be used to drive the positioning steel ball 7 to protrude outward.

[0063] Preferably, a plurality of first metal contacts 9 are installed in the dovetail groove 4, and correspondingly, a plurality of second metal contacts 10 are also installed on the dovetail platform 5. The first metal contacts 9 and the second metal contacts 10 are both conductive metal rods. When the dovetail platform 5 is fitted and sleeved into the inside of the dovetail groove 4, each first metal contact 9 contacts each second metal contact 10. This structure can facilitate the circuit series connection of each module (i.e., the rotating joint 1, the clamping component 2, and each swing joint 3) during the reconstruction of the robot arm. In practical applications, each module of the robot arm has its own circuit board inside, and the circuit board is connected to the above-mentioned metal contacts through wires. During the reconstruction of the robot arm, when two adjacent modules are connected so that the first metal contact 9 contacts the second metal contact 10, the power supply of the robot arm can be smoothly supplied to each module (i.e., the rotating joint 1, the clamping component 2, and each swing joint 3).

[0064] Optionally, combined Fig.12 As shown, the two opposite sides of each dovetail platform 5 in this embodiment are also pivotally connected to the limiting piece 27. When the dovetail platform 5 is completely inserted into the dovetail groove 4, the limiting piece 27 can be moved to rotate to the joint between the dovetail platform 5 and the dovetail groove 4, so that the inner side of the limiting piece 27 blocks the joint between the dovetail platform 5 and the dovetail groove 4 (as shown in FIG. Fig.13 As shown), the dovetail stage 5 can be restricted, further preventing the dovetail stage 5 from being separated from the dovetail groove 4, thereby ensuring the stable connection of each module of the robot arm (i.e., the rotating joint 1, the clamping component 2 and each swing joint 3).

[0065] In one embodiment, specifically, the swing joint 3 includes a fixed seat 11, a dual-axis steering gear 12 and a C-shaped arm 13, the fixed seat 11 is formed with a mounting groove 14, the bottom shell of the dual-axis steering gear 12 is fixedly sleeved in the mounting groove 14, the power output shaft of the dual-axis steering gear 12 is located in the inner cavity of the C-shaped arm 13, and the power output shaft of the dual-axis steering gear 12 is transmission-connected to the side plates on opposite sides of the C-shaped arm 13, so when the power output shaft of the dual-axis steering gear 12 rotates, it can drive the C-shaped arm 13 to rotate and swing. Specifically, in this embodiment, the dovetail groove 4 is integrally formed at the top of the C-shaped arm 13, and the dovetail platform 5 is integrally formed at the bottom of the fixed seat 11.

[0066] In one embodiment, specifically, the rotary joint 1 includes a bottom shell 15, a rotary servo 16 and a rotary seat 17. The rotary servo 16 is fixedly accommodated inside the bottom shell 15. The power output shaft of the rotary servo 16 passes through the bottom shell 15 and is transmission-connected to the rotary seat 17. The rotary seat 17 is detachably connected to the swing joint 3 through a quick-release structure. Specifically, a dovetail groove 4 is integrally formed on the top of the rotary seat 17. When the dovetail platform 5 at the bottom of the swing joint 3 is fitted in the dovetail groove 4 at the top of the rotary seat 17, the connection between the rotary seat 17 and the swing joint 3 can be realized. Therefore, when the rotary servo 16 rotates and drives the rotary seat 17 to rotate, it can drive each swing joint 3 and the clamping component 2 to rotate as a whole, thereby realizing the overall rotation activity of the robotic arm.

[0067] Optionally, in this embodiment, a dovetail platform 5 is also provided at the bottom of the bottom shell 15 , so that in practical applications, the rotary joint 1 can be easily installed on a mechanical arm fixed base with a dovetail groove 4 .

[0068] In one embodiment, specifically, the clamping component 2 includes a docking seat 18, a chuck servo 19 and a movable chuck 20, the chuck servo 19 is fixedly accommodated inside the docking seat 18, the power output shaft of the chuck servo 19 passes through the docking seat 18, and the power output shaft of the chuck servo 19 is connected to the movable chuck 20 by transmission, so the chuck servo 19 can be used to drive the movable chuck 20 to open and close, so that the mechanical arm can clamp and release objects. The docking seat 18 is detachably connected to the swing joint 3 through a quick release structure, specifically, the bottom of the docking seat 18 is integrally formed with a dovetail platform 5, and when the dovetail platform 5 at the bottom of the docking seat 18 is matched with the dovetail groove 4 at the top of the swing joint 3, the connection between the docking seat 18 and the swing joint 3 can be realized, so when the U-shaped arm 13 of the swing joint 3 rotates and swings, it can drive the movable chuck 20 to swing together.

[0069] Specifically, the movable clamp head 20 includes a left clamp arm 21 and a right clamp arm 22. The free ends of the front ends of the left clamp arm 21 and the right clamp arm 22 are spliced ​​with each other. The middle parts of the left clamp arm 21 and the right clamp arm 22 are rotatably pivoted on the docking seat 18 respectively. The free end of the rear end of the left clamp arm 21 is integrally formed with a plurality of first transmission teeth 23 arranged in an arc shape. The first transmission teeth 23 are arranged on the inner side of the left clamp arm 21. The free end of the rear end of the right clamp arm 22 is also integrally formed with a plurality of second transmission teeth 24 arranged in an arc shape. The second transmission teeth 24 are arranged on the inner side of the right clamp arm 22. side, and the first transmission tooth 23 and the second transmission tooth 24 are meshed with each other to realize the mutual rotation linkage of the left clamp arm 21 and the right clamp arm 22. For example, when the right clamp arm 22 is controlled to rotate and swing, the left clamp arm 21 can be rotated and swung together through the meshing of the second transmission tooth 24 and the first transmission tooth 23. In this embodiment, when the right clamp arm 22 rotates clockwise, the left clamp arm 21 is rotated in the opposite direction to realize the opening of the movable clamp 20. On the contrary, when the right clamp arm 22 rotates counterclockwise, the left clamp arm 21 is rotated in the opposite direction to realize the closing of the movable clamp 20.

[0070] On the other hand, a transmission gear 25 is installed on the docking seat 18, and the transmission gear 25 is located between the left clamp arm 21 and the right clamp arm 22. The power output shaft of the clamp head servo 19 is coaxially connected to the transmission gear 25. Accordingly, the free end of the rear end of the right clamp arm 22 is also integrally formed with a plurality of third transmission teeth 26 arranged in an arc shape. The third transmission teeth 26 and the second transmission teeth 24 are mutually layered and staggered, and the transmission gear 25 and the third transmission teeth 26 are mutually meshed. Therefore, when the clamp head servo 19 drives the transmission gear 25 to rotate, the third transmission teeth 26 can be used to cause the right clamp arm 22 to rotate, and then the left clamp arm 21 can be driven to rotate and swing together as described above. Therefore, the forward and reverse rotation of the clamp head servo 19 can drive the movable clamp head 20 to open and close, so that the mechanical arm can clamp and release objects.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A modular reconfigurable robotic arm, comprising a rotary joint (1), a clamping component (2) and a swing joint (3), characterized in that , the number of the swing joints (3) is several; Wherein, quick-release structures are respectively formed between the rotating joint (1) and the swing joint (3), between each of the swing joints (3), and between the clamping component (2) and the swing joint (3); The rotating joint (1) and the swing joint (3), the clamping component (2) and the swing joint (3), and two adjacent swing joints (3) are detachably connected to each other via the quick-release structure.

2. The modular reconfigurable robotic arm according to claim 1, characterized in that: The quick-release structure comprises: A dovetail groove (4) is integrally formed on the rotating joint (1) or the clamping component (2) or the swinging joint (3); A dovetail platform (5) is integrally formed on the rotating joint (1) or the clamping component (2) or the swinging joint (3); The dovetail groove (4) and the dovetail platform (5) are mutually matched and sleeved between the rotating joint (1) and the swinging joint (3); The dovetail groove (4) and the dovetail platform (5) are mutually matched and sleeved between the clamping component (2) and the swing joint (3); The dovetail groove (4) and the dovetail platform (5) are mutually matched and sleeved between two adjacent swing joints (3).

3. The modular reconfigurable robotic arm according to claim 2, characterized in that: The quick-release structure also includes: A limiting hole (6) is provided on the bottom plane of the dovetail groove (4); A positioning steel ball (7) is arranged on the dovetail platform (5) and elastically protrudes on the top plane of the dovetail platform (5); When the dovetail platform (5) is sleeved into the interior of the dovetail groove (4), the positioning steel ball (7) and the limiting hole (6) are mutually engaged.

4. The modular reconfigurable robotic arm according to claim 3, characterized in that: The number of the limiting holes (6) is several, and each of the limiting holes (6) is arranged in a straight line along the direction in which the dovetail platform (5) enters the dovetail groove (4); The number of the positioning steel balls (7) is several, and each positioning steel ball (7) corresponds to each limiting hole (6).

5. The modular reconfigurable robotic arm according to claim 3, characterized in that: A spring tube (8) is fixedly sleeved inside the dovetail platform (5), and the positioning steel ball (7) is slidably sleeved inside the spring tube (8); A spring is arranged inside the spring tube (8), one end of the spring is fixedly connected to the spring tube (8), and the other end of the spring is elastically connected to the positioning steel ball (7) and elastically drives the positioning steel ball (7) to protrude outward.

6. The modular reconfigurable robotic arm according to claim 2, characterized in that: A plurality of first metal contacts (9) are arranged in the dovetail groove (4); A plurality of second metal contacts (10) are arranged on the dovetail platform (5); When the dovetail platform (5) is fitted into the interior of the dovetail groove (4), each of the first metal contacts (9) contacts each of the second metal contacts (10).

7. The modular reconfigurable robotic arm according to claim 1, characterized in that: The swing joint (3) comprises a fixed seat (11), a dual-axis steering gear (12) and a C-shaped arm (13); The fixing seat (11) is formed with a mounting groove (14), and the dual-axis steering gear (12) is fixedly sleeved in the mounting groove (14); The power output shaft of the dual-axis steering engine (12) is located in the inner cavity of the C-shaped arm (13) and is transmission-connected to the side plates on opposite sides of the C-shaped arm (13).

8. The modular reconfigurable robotic arm according to claim 1, characterized in that: The rotary joint (1) comprises a bottom shell (15), a rotary steering gear (16) and a rotary seat (17); The rotating seat (17) is detachably connected to the swing joint (3) via the quick-release structure; The rotary steering gear (16) is fixedly accommodated inside the bottom shell (15), and the power output shaft of the rotary steering gear (16) passes through the bottom shell (15) and is transmission-connected to the rotary seat (17).

9. The modular reconfigurable robotic arm according to claim 1, characterized in that: The clamping component (2) comprises a docking seat (18), a clamping head steering gear (19) and a movable clamping head (20); The docking seat (18) is detachably connected to the swing joint (3) via the quick-release structure; The chuck servo (19) is fixedly accommodated inside the docking seat (18), and a power output shaft of the chuck servo (19) passes through the docking seat (18) and is transmission-connected to the movable chuck (20) to drive the movable chuck (20) to move open and close.

10. The modular reconfigurable robotic arm according to claim 9, characterized in that: The movable clamp (20) comprises a left clamp arm (21) and a right clamp arm (22) pivotally connected to the docking seat (18); The free end of the left clamp arm (21) is integrally formed with a plurality of first transmission teeth (23) arranged in an arc shape; the free end of the right clamp arm (22) is integrally formed with a plurality of second transmission teeth (24) arranged in an arc shape; the first transmission teeth (23) and the second transmission teeth (24) are meshed with each other; The docking seat (18) is provided with a transmission gear (25) located between the left clamping arm (21) and the right clamping arm (22), and the power output shaft of the clamping head steering gear (19) is coaxially connected to the transmission gear (25); The free end of the right clamp arm (22) is integrally formed with a plurality of third transmission teeth (26) arranged in an arc shape; the third transmission teeth (26) and the second transmission teeth (24) are mutually layered and staggered; and the transmission gear (25) and the third transmission teeth (26) are mutually meshed.

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