Locking assembly, mechanical arm and robot

Abstract

The utility model provides a locking assembly, a mechanical arm and a robot, the locking assembly comprises a locking piece, an elastic piece and an unlocking piece, the locking piece is used for being movably arranged in a shell of the mechanical arm, and the locking piece has a locking state and an unlocking state which are opposite; the first end of the elastic piece is connected with the locking piece, the second end of the elastic piece is used for abutting against a shell of the mechanical arm, and when the locking piece is in a locking state, the elastic piece drives the locking piece to be inserted into a joint module of the mechanical arm so as to lock the joint module; the unlocking piece is used for driving the locking piece to be away from the joint module so as to unlock the joint module, and the locking piece is converted into the unlocking state from the locking state. According to the locking assembly, locking is achieved in the mode that the locking piece is inserted into the joint module, and therefore the locking stability is improved; in the locking process, the elastic piece abuts against the locking piece, so that the locking piece is kept in the locking state with the joint module, and energy consumption in the locking state is reduced.

Description

Technical Field

[0001] The present application relates to robot manufacturing technology, and in particular, to a locking component, a robotic arm, and a robot. Background Art

[0002] A robotic arm is an important component of a robot. The robotic arm includes multiple precision joint modules, such as rotatable joint modules. When the robot is working, it is often necessary to keep the robotic arm in a predetermined position. At this time, a locking component is required to lock the joint module to prevent the robotic arm from rotating.

[0003] In the solutions of related technologies, one way of the locking component is to use a friction plate for locking. However, when the external force applied to the robotic arm is greater than the maximum static friction force between the friction plate and the joint module, there is a risk of locking failure. Another way of the locking component is to use an electromagnetic locking pin for locking. However, to maintain the locked state, it is necessary to ensure that the electromagnetic locking pin is always powered on, resulting in high energy consumption. Summary of the Utility Model

[0004] In order to overcome the above defects in related technologies, the purpose of the present application is to provide a locking component, a robotic arm, and a robot. The locking component of the present application realizes locking by inserting a locking member into the joint module of the robotic arm, thereby improving the stability of locking. When locking, an elastic member is used to abut against the locking member to keep the locking member in a locked state with the joint module, reducing the energy consumption in the locked state.

[0005] On the one hand, the present application provides a locking component, including:

[0006] A locking member, which is movably arranged in the housing of the robotic arm and has opposite locking and unlocking states;

[0007] An elastic member, the first end of which is connected to the locking member, and the second end of which is used to abut against the housing of the robotic arm. When the locking member is in the locking state, the elastic member drives the locking member to insert into the joint module of the robotic arm to lock the joint module;

[0008] An unlocking member, which is used to drive the locking member away from the joint module to unlock the joint module and change the locking member from the locking state to the unlocking state.

[0009] In a possible implementation, when the locking member is in the locking state and the unlocking state, the elastic member is in a pre-tightened state.

[0010] In a possible implementation, the locking member includes a body, and a protrusion is provided on one side of the body. When the locking member is in the locked state, the elastic force of the elastic member causes the protrusion to be inserted into the deceleration mechanism of the joint module.

[0011] In a possible implementation, a fixing pin is further included, and the fixing pin is used to be arranged in the housing of the mechanical arm, and the locking member is rotatably sleeved on the fixing pin.

[0012] In a possible implementation, the elastic member includes a torsion spring, the torsion spring is sleeved on the fixing pin, and two ends of the torsion spring are respectively abutted against the housing of the mechanical arm and the locking member.

[0013] In a possible implementation, at least a portion of the elastic member is disposed around the body, and a first end of the elastic member abuts against a side of the body facing away from the joint module.

[0014] In a possible implementation, the unlocking member includes an electromagnet, and the locking member is a ferromagnetic member.

[0015] In a possible implementation, the unlocking member is passed through the shell, the locking member further includes a side plate, the side plate is arranged on a side of the main body away from the joint module, and the unlocking member adsorbs the side plate.

[0016] On the other hand, the present application provides a robotic arm, comprising a housing, in which a joint module and a locking assembly as described above are disposed, wherein the locking assembly is used to lock or unlock the joint module.

[0017] In a possible implementation, the joint module includes a reduction mechanism, which includes a primary reduction mechanism, a secondary reduction mechanism, a tertiary reduction mechanism and a fourth reduction mechanism. When the locking member is in a locked state, the secondary reduction mechanism is locked.

[0018] On the other hand, the present application provides a robot comprising the robotic arm as described above.

[0019] The present application provides a locking component, a robotic arm, and a robot. The locking component includes a locking member, an elastic member, and an unlocking member. The locking member is movably disposed within the housing of the robotic arm and has opposite locking and unlocking states. One end of the elastic member is connected to the locking member, and the other end of the elastic member is configured to abut against the housing of the robotic arm. When the locking member is in the locking state, the elastic member drives the locking member to insert into the joint module of the robotic arm to lock the joint module. The unlocking member is used to drive the locking member away from the joint module to unlock the joint module and change the locking member from the locking state to the unlocking state. The locking component of the present application achieves locking by inserting the locking member into the joint module, thereby improving the stability of locking. During locking, the elastic member abuts against the locking member to keep the locking member in the locked state with the joint module, reducing the energy consumption in the locked state. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 Schematic diagram of the structure of the locking component provided by an embodiment of the present application;

[0022] Figure 2 Schematic diagram of the connection structure of the locking member, the elastic member, and the fixing pin provided by an embodiment of the present application;

[0023] Figure 3 Partial cross-sectional view of the robotic arm provided by an embodiment of the present application;

[0024] Figure 4 Transmission principle diagram of the joint module provided by an embodiment of the present application.

[0025] Reference numerals:

[0026] 1 - Robotic arm;

[0027] 10 - Housing;

[0028] 20 - Joint module;

[0029] 21 - First - stage reduction mechanism; 211 - Driving gear; 212 - First - stage driven gear;

[0030] 22 - Second - stage reduction mechanism; 221 - Intermediate transmission gear; 222 - Locking wheel; 223 - Second - stage driven gear;

[0031] 23 - Three - stage speed - reducing mechanism; 231 - First sun gear; 232 - First planet gear; 233 - First planet carrier;

[0032] 24 - Four - stage speed - reducing mechanism; 241 - Second sun gear; 242 - Second planet gear; 243 - Second planet carrier; 244 - Output flange;

[0033] 25 - Driving part;

[0034] 100 - Locking part; 110 - Body; 120 - Protruding part; 130 - Side plate;

[0035] 200 - Elastic part;

[0036] 300 - Unlocking part;

[0037] 400 - Fixing pin. Specific embodiments

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application.

[0039] Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0040] As described in the background art, one way of the locking component in the related - art solution is to use a friction plate for locking. Specifically, the friction plate and the supporting brake pad can be sleeved on the rotating shaft of the inner joint module of the robotic arm, and the friction plate abuts against the brake pad; when locking, the brake pad is stopped from rotating by a locking device, and a frictional force is generated between the brake pad and the friction plate, thereby braking the rotating shaft and keeping the robotic arm in a predetermined position. However, when the external force applied to the robotic arm is greater than the maximum static frictional force between the friction plate and the brake pad, there is a risk of locking failure.

[0041] Another way of the locking component is to use an electromagnetic lock pin for locking. Specifically, an electromagnetic lock pin can be arranged inside the housing of the robotic arm, and a corresponding locking hole can be arranged on the rotating part of the joint module. When the electromagnetic lock pin is energized, it can be inserted into the locking hole, thereby stopping the rotating part of the joint module from rotating. Although this method can avoid the problem of locking failure, maintaining the locked state requires ensuring that the electromagnetic lock pin is always energized, resulting in high energy consumption.

[0042] In view of this, an embodiment of the present application aims to provide a locking component, a robotic arm, and a robot. The locking component includes a locking member, an elastic member, and an unlocking member. The locking member is movably disposed within the housing of the robotic arm. One end of the elastic member is connected to the locking member, and the other end of the elastic member is configured to abut against the housing of the robotic arm. When the locking member is in the locked state, the elastic member drives the locking member to insert into the joint module of the robotic arm to lock the joint module. When the locking member is in the unlocked state, the unlocking member drives the locking member away from the joint module to unlock the joint module. The locking component of the present application achieves locking by inserting the locking member into the joint module, thereby improving the stability of locking and avoiding locking failure. When locking, the elastic member abuts against the locking member to keep the locking member in a locked state with the joint module, reducing the energy consumption in the locked state.

[0043] The following will describe in detail the content of the embodiment of the present application with reference to the drawings, so that those skilled in the art can understand the content of the present application in more detail.

[0044] Figure 1 Shows the installation structure of the locking component within the robotic arm; Figure 2 Shows the connection structure of the locking member, elastic member, and fixing pin in the locking component. Please refer to Figure 1 - Figure 2 Accordingly, this embodiment provides a locking component, including:

[0045] A locking member 100, which is movably disposed within the housing 10 of the robotic arm 1. The locking member 100 has opposite locked and unlocked states. Exemplarily, the locking member 100 can be slidably disposed along a straight line within the housing 10; alternatively, the locking member 100 can be rotatably disposed within the housing 10. When the locking member 100 is in the locked state, the locking member 100 can lock the joint module 20 within the robotic arm 1, so that the joint module 20 cannot rotate and the robotic arm 1 is maintained at a predetermined position. When the locking member 100 is in the unlocked state, the locking member 100 moves away from the joint module 20 to unlock the joint module 20, and the joint module 20 can rotate, thereby driving the robotic arm 1 to swing.

[0046] Elastic member 200, the first end of the elastic member 200 is connected to the locking member 100. The elastic member 200 and the locking member 100 can be connected by means such as snap connection or abutment. The second end of the elastic member 200 is used to abut against the outer shell 10 of the robotic arm 1. When the locking member 100 is in the locked state, the elastic member 200 drives the locking member 100 to insert into the joint module 20 of the robotic arm 1 to lock the joint module 20. It can be understood that when the locking member 100 is in the locked state, the elastic member 200 can maintain the locked state of the locking member 100 with the joint module 20 through its own elastic force, thus eliminating the need to consume external energy and being beneficial to energy conservation. In this embodiment, the elastic member 200 can be, for example, a spring or a torsion spring. When the locking member 100 is slidably arranged in a straight line in the outer shell 10, the elastic member 200 can be a spring, and the two ends of the spring respectively abut against the outer shell 10 and the locking member 100. When the locking member 100 is rotatably arranged in the outer shell 10, the elastic member 200 can be a spring, and the two ends of the spring respectively abut against the outer shell 10 and the end of the locking member 100 far from the rotation center. When the locking member 100 is rotatably arranged in the outer shell 10, the elastic member 200 can also be a torsion spring, the torsion spring is sleeved on the rotation shaft of the locking member 100, and the two ends of the torsion spring respectively abut against the outer shell 10 and the locking member 100.

[0047] Unlocking member 300, the unlocking member 300 is used to drive the locking member 100 away from the joint module 20 to unlock the joint module 20 and change the locking member 100 from the locked state to the unlocked state. In this embodiment, the unlocking member 300 can be partially arranged in the outer shell 10 or entirely arranged in the outer shell 10, which can be specifically determined according to the installation space and appearance requirements in the outer shell 10. The specific structure of the unlocking member 300 can be selected according to needs. For example, it can be a magnetic member such as a magnet, or it can include mechanical transmission members such as a motor and a telescopic rod, and the telescopic rod is connected to the locking member 100. When the locking member 100 changes from the locked state to the unlocked state, the unlocking member 300 applies an external force to the locking member 100 to overcome the elastic force of the elastic member 200, so that the locking member 100 moves away from the joint module 20.

[0048] From the above description, it can be seen that the locking assembly of this embodiment realizes locking by inserting the locking member 100 into the joint module 20, thereby improving the locking stability. When locking, the elastic member 200 is used to abut against the locking member 100 to keep the locking member 100 in the locked state with the joint module 20, reducing the energy consumption in the locked state.

[0049] In this embodiment, the elastic member 200 is always in a pre-tightened state (e.g., a compressed state), so that when the locking member 100 is in a locked state, the locking member 100 maintains a locked state with the joint module 20. And when the locking member 100 is switched from an unlocked state to a locked state (i.e., after the unlocking member 300 no longer applies an external force to the locking member 100), the elastic force of the elastic member 200 is used to re-lock the locking member 100 with the joint module 20.

[0050] Please continue to refer to Figure 1 and Figure 2 The locking member 100 of this embodiment includes a body 110, and a protrusion 120 is provided on one side of the body 110. It can be understood that the protrusion 120 is provided on the side of the body 110 facing the joint module 20. When the locking member 100 is in a locked state, the elastic force of the elastic member 200 causes the protrusion 120 to be inserted into the reduction mechanism of the joint module 20, for example, into the tooth groove in the reduction mechanism of the joint module 20, thereby locking the joint module 20.

[0051] In a possible implementation, the locking assembly of this embodiment further includes a fixing pin 400, which is used to be arranged in the housing 10 of the mechanical arm 1, and the locking member 100 is rotatably sleeved on the fixing pin 400. In other words, the locking member 100 of this embodiment is rotatably arranged in the housing 10; the protrusion 120 can be arranged at an end away from the fixing pin 400, so that when the locking member 100 rotates a small angle, the protrusion 120 moves a longer distance. The use of a rotating connection method can reduce the space occupied by the locking member 100 in the housing 10.

[0052] Furthermore, the elastic member 200 of this embodiment includes a torsion spring, which is sleeved on the fixing pin 400 and is in a pre-tightened state. The two ends of the torsion spring abut against the housing 10 and the locking member 100 respectively, thereby applying elastic force to the locking member 100 .

[0053] Please continue to refer to Figure 2 In this embodiment, at least part of the elastic member 200 (i.e., the torsion spring) is wound on the body 110, and the first end of the elastic member 200 abuts against the side of the body 110 away from the joint module 20. This achieves a clamping effect, improving the stability of the connection between the elastic member 200 and the locking member 100. The first end of the elastic member 200 abuts against the side of the body 110 away from the joint module 20, thereby ensuring that the elastic force applied by the elastic member 200 pushes the locking member 100 toward the joint module 20, so that the locking member 100 maintains a locked state with the joint module 20 in the locked state.

[0054] Optionally, the unlocking member 300 of this embodiment includes an electromagnet, which can be connected to an external power source to generate magnetic force after being energized. Correspondingly, the locking member 100 is a ferromagnetic member, and the ferromagnetic member can be composed of metals or alloys such as iron, cobalt, nickel, etc.

[0055] Furthermore, the unlocking member 300 is disposed through the housing 10, thereby reducing the space occupied within the housing 10. The locking member 100 further includes a side plate 130, and the side plate 130 is disposed on a side of the main body 110 away from the joint module 20. After the unlocking member 300 is energized, it can adsorb the side plate 130. The setting of the side plate 130 increases the adsorbable area of the unlocking member 300, thereby facilitating the improvement of the adsorption force between the unlocking member 300 and the locking member 100.

[0056] Figure 3 Shows a partial structure of a joint module in a robotic arm; Figure 4 Shows the transmission principle of the joint module. Please refer to Figure 1 - Figure 4 , this embodiment further provides a robotic arm 1, including a housing 10, a joint module 20 and the above-mentioned locking assembly are arranged inside the housing 10, and the locking assembly is used to lock or unlock the joint module 20, so that the robotic arm 1 is maintained at a predetermined position or can swing normally.

[0057] It can be understood that since the robotic arm 1 of this embodiment adopts the above-mentioned locking assembly, the locking stability is better, and the energy consumption in the locked state is smaller.

[0058] The joint module 20 of this embodiment includes a reduction mechanism, and the reduction mechanism includes a primary reduction mechanism 21, a secondary reduction mechanism 22, a tertiary reduction mechanism 23 and a quaternary reduction mechanism 24. Considering the installation space limitation within the housing 10, when the locking member 100 of this embodiment is in the locked state, the secondary reduction mechanism 22 is locked.

[0059] Specifically, the joint module 20 further includes a driving member 25, which can be, for example, a motor. The output shaft of the motor is connected to the driving gear 211 of the first-stage reduction mechanism 21, and the first-stage reduction mechanism 21 further includes a first-stage driven gear 212 that meshes with the driving gear 211. The second-stage reduction mechanism 22 is in meshing transmission with the first-stage reduction mechanism 21; the second-stage reduction mechanism 22 includes an intermediate transmission gear 221, a locking wheel 222, and a second-stage driven gear 223. Among them, the intermediate transmission gear 221 is coaxially arranged with the first-stage driven gear 212, the locking wheel 222 is arranged between the intermediate transmission gear 221 and the second-stage driven gear 223 and meshes with both of them. When the locking member 100 is in the locked state, the protruding portion 120 thereon can be inserted into the tooth groove between two adjacent teeth on the locking wheel 222, thereby locking the joint module 20. The third-stage reduction mechanism 23 includes a first sun gear 231, a first planet gear 232, and a first planet carrier 233; among them, the first sun gear 231 is coaxially arranged with the second-stage driven gear 223, and the first planet gear 232 is arranged in the first planet carrier 233 and meshes with the first sun gear 231. The fourth-stage reduction mechanism 24 includes a second sun gear 241, a second planet gear 242, a second planet carrier 243, and an output flange 244; among them, the second sun gear 241 is coaxially arranged with the first sun gear 231, the second planet gear 242 is arranged in the second planet carrier 243 and meshes with the second sun gear 241; the output flange 244 is integrally formed with the second planet carrier 243, and the output flange 244 is used to connect an external device to transmit torque.

[0060] This embodiment also provides a robot, including the above-mentioned robotic arm.

[0061] Due to the adoption of the above-mentioned robotic arm, the robot of this embodiment can make the robotic arm have better locking stability and lower energy consumption in the locked state.

[0062] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application 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 should not be construed as a limitation to the present application.

[0063] In this application, unless otherwise clearly defined or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] It should be noted that in the description of this application, the terms "first" and "second" are only used to conveniently describe different components, and cannot be understood as indicating or implying an order relationship, relative importance, or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0065] The embodiments or implementation manners in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts among the various embodiments can be referred to each other.

[0066] In the description of this application, the description with reference to terms such as "one implementation manner", "some implementation manners", "schematic implementation manners", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the implementation manner or example are included in at least one implementation manner or example of this application. In this application, the schematic expressions of the above terms do not necessarily refer to the same implementation manner or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more implementation manners or examples.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, rather than to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A locking component, characterized in that, include: A locking member, the locking member is used to be movably arranged in the housing of the mechanical arm, and the locking member has a relative locking state and an unlocking state; An elastic member, wherein a first end of the elastic member is connected to the locking member, and a second end of the elastic member is used to abut against the housing of the mechanical arm. When the locking member is in the locked state, the elastic member drives the locking member to insert into the joint module of the mechanical arm to lock the joint module; An unlocking member is used to drive the locking member away from the joint module to unlock the joint module, so as to change the locking member from the locked state to the unlocked state.

2. The locking assembly according to claim 1, wherein When the locking member is in the locked state and the unlocked state, the elastic member is in a pre-tightened state.

3. The locking assembly according to claim 2, characterized in that, The locking member includes a body, and a protrusion is provided on one side of the body. When the locking member is in the locked state, the elastic force of the elastic member causes the protrusion to be inserted into the deceleration mechanism of the joint module.

4. The locking assembly according to claim 3, wherein It also includes a fixing pin, which is used to be arranged in the housing of the mechanical arm, and the locking member is rotatably sleeved on the fixing pin.

5. The locking assembly according to claim 4, wherein The elastic member comprises a torsion spring, the torsion spring is sleeved on the fixing pin, and two ends of the torsion spring are respectively abutted against the housing of the mechanical arm and the locking member.

6. The locking assembly according to any one of claims 3-5, characterized in that, At least a portion of the elastic member is wound around the body, and a first end of the elastic member abuts against a side of the body away from the joint module.

7. The locking assembly according to any one of claims 3-5, characterized in that, The unlocking member includes an electromagnet, and the locking member is a ferromagnetic member.

8. The locking assembly according to claim 7, wherein The unlocking member is passed through the shell, and the locking member further comprises a side plate, which is arranged on a side of the main body away from the joint module, and the unlocking member adsorbs the side plate.

9. A robotic arm, characterized in that, It comprises a shell, in which a joint module and a locking assembly as described in any one of claims 1 to 8 are arranged, and the locking assembly is used to lock or unlock the joint module.

10. The robotic arm according to claim 9, characterized in that, The joint module includes a reduction mechanism, which includes a primary reduction mechanism, a secondary reduction mechanism, a tertiary reduction mechanism and a quaternary reduction mechanism. The locking member is in a locked state to lock the secondary reduction mechanism.

11. A robot, characterized in that, Comprising a robotic arm as claimed in claim 9 or 10.

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