Rigid-flexible variable mechanical arm joint structure and mechanical arm

Abstract

The mechanical arm joint structure comprises a pull rope and a plurality of module joints which are arranged in series, each module joint comprises a first spherical hinge base, a first spherical hinge cover, a first movable disc, a first stop block and a first stop groove, the first spherical hinge cover is in spherical hinge connection with the first spherical hinge base of the adjacent module joint, the first stop block is inserted into the first stop groove of the adjacent module joint in a matched mode, and the pull rope is connected with the first movable disc of each module joint in a matched mode and can drive the first stop block of each module joint to be disengaged from the first stop groove. The mechanical arm joint structure has two use modes, namely a rigid mode and a flexible mode, so that the mechanical arm provided with the mechanical arm joint structure not only has the large operation space and heavy-load operation capability of a rigid mechanical arm, but also has the small operation space and flexible operation capability of a flexible mechanical arm, and the environmental adaptability of the mechanical arm can be improved; and diversified operation requirements are met.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and more particularly to a flexible and rigid robotic arm joint structure and robotic arm. Background Technology

[0002] Based on structural characteristics and movement methods, existing robotic arms can be broadly classified into rigid robotic arms and flexible robotic arms. Rigid robotic arms have a fixed arm length and offer advantages such as high rigidity and high load capacity, making them widely used in heavy-duty operations in open spaces. However, they occupy a large operating space, cannot deform, and are prone to collisions with nearby objects during movement, limiting their suitability to larger operating spaces. Flexible robotic arms typically consist of several universal joints, deforming through the simultaneous bending motion of multiple joints, as illustrated in patent application CN117697819A. These offer more flexible movement and better obstacle avoidance, making them widely applicable in flexible operations in confined spaces. However, their rigidity is insufficient, their load capacity is limited, and their operating space is restricted, making them unsuitable for heavy-duty operations in open spaces. With the continuous expansion of application scenarios, robotic arms with only rigid or flexible characteristics are no longer sufficient to meet diverse operational needs. Therefore, there is an urgent need for a robotic arm joint structure that possesses both rigid and flexible characteristics. Utility Model Content

[0003] This invention addresses the shortcomings of existing technologies by providing a flexible and rigid robotic arm joint structure and robotic arm. The robotic arm joint structure has two usage modes: a rigid mode and a flexible mode. This allows the robotic arm equipped with the joint structure to possess both the large operating space and heavy-duty operation capacity of a rigid robotic arm and the small operating space and flexible operation capacity of a flexible robotic arm, thereby improving the environmental adaptability of the robotic arm and meeting diverse operational needs.

[0004] The technical solution adopted in this utility model is as follows:

[0005] A flexible and rigid robotic arm joint structure includes a pull rope and several modular joints arranged in series. Each modular joint includes a first ball joint seat, a first ball joint cover connected to the first ball joint seat, a first movable disk movably arranged between the first ball joint cover and the first ball joint seat, a first stop block disposed on the first movable disk and retractably connected to the first ball joint seat along the series direction, and a first stop groove disposed on the first ball joint cover along the series direction. The first ball joint cover is ball-jointed to the first ball joint seat of the adjacent modular joint, and the first stop block is inserted into the first stop groove of the adjacent modular joint. The pull rope is arranged along the series direction and is connected to the first movable disk of each modular joint. When the pull rope moves towards the side of the first ball joint seat closer to the first ball joint cover, it causes the first stop block of each modular joint to disengage from the first stop groove.

[0006] Preferably, the pull rope includes a rope body and a plurality of first mating parts connected to the rope body, each corresponding to a first movable disc. The first ball joint seat, the first ball joint cover, and the first movable disc are each provided with a first movable hole through which the rope body passes. The first mating parts are mated and connected with the corresponding first movable disc.

[0007] Preferably, the first mating part is configured as a first limiting block, which is arranged on the first movable plate on the side near the first ball joint seat.

[0008] Preferably, the first stop block is configured as a protruding column structure that protrudes from one side of the first movable disk near the first ball joint seat. When the pull rope moves, the first limiting block is limited to move between the first movable disk and the first ball joint seat. The first movable disk has a recessed receiving groove on one side near the first ball joint seat for accommodating the first limiting block.

[0009] Preferably, at least two sets of the first stop blocks and first stop grooves, which are arranged correspondingly between two adjacent module joints, are arranged around the pull rope.

[0010] Preferably, it further includes a plurality of drive ropes arranged along the tandem direction, the plurality of drive ropes being arranged along the circumferential direction of the pull rope and passing through each first ball joint seat and / or first ball joint cover, for driving the module joints to deflect in different directions and angles respectively; the outer surface of the first ball joint seat is recessed with a first ball groove, and the outer surface of the first ball joint cover is formed with a first spherical surface adapted to the first ball groove, the first ball groove and the first spherical surface of the adjacent module joint are spherically rolling connected to each other; the first movable hole on the first ball joint seat is provided through its first ball groove, the first movable hole on the first ball joint cover is provided through its first spherical surface, and the width of the first movable hole on the first ball joint seat and the width of the first movable hole on the first ball joint cover are respectively set to be greater than the width of the rope body.

[0011] Preferably, the modular joint further includes a first reset member disposed on the side of the first movable disc away from the first ball joint seat and between the first ball joint cover and the first ball joint cover, the first reset member being capable of providing a reset force to prevent the first stop block from disengaging from the first stop groove; and / or, a plurality of first elastic supports are supported between the first ball joint seat and the first ball joint cover of the adjacent modular joint, arranged around the pull rope.

[0012] Preferably, it also includes an end joint, which includes a mounting base for mounting operating structures such as mechanical claws, a second ball joint cover connected to the mounting base, and a second stop groove disposed on the second ball joint cover along the tandem direction. The second ball joint cover is ball jointly connected to the first ball joint seat of the end module joint. The first stop block of the end module joint is inserted into the second stop groove. When the pull rope moves toward the side of the first ball joint seat closer to the first ball joint cover, it can drive the first stop block of the end module joint to disengage from the second stop groove.

[0013] Preferably, the system further includes a base joint, the base joint comprising a second ball joint seat, a connecting seat connected to the second ball joint seat, a second movable disk movably arranged between the second ball joint seat and the connecting seat, a second stop block disposed on the second movable disk and retractably connected to the second ball joint seat along the tandem direction, a hinge block, two first hinge plates disposed on the connecting seat and respectively arranged on both sides of the hinge block along the length direction and along the width direction of the hinge block, hinged to the hinge block by their rotation axes, two second hinge plates disposed on the base and respectively arranged on both sides of the hinge block along the width direction and along the length direction of the hinge block, hinged to the hinge block by their rotation axes, and a third stop block disposed on the second movable disk and retractably connected to the connecting seat. The system comprises a block, several third elastic supports arranged around the pull rope and respectively supported between the connecting seat and the base, and a base for mounting the main body of the machine; the third stop block is arranged opposite to and spaced apart from the two second hinge plates; the second ball joint seat is ball-jointed to the first ball joint cover of the first end module joint, and the second stop block is inserted into the first stop groove of the first end module joint; the pull rope is connected to the second movable disc and the first movable disc of each module joint, and when the pull rope moves toward the side of the first ball joint seat closer to the first ball joint cover, it simultaneously drives the second stop block to disengage from the first stop groove of the first end module joint and drives the third stop block to press against and support the two second hinge plates.

[0014] This utility model also provides a robotic arm, including the robotic arm joint structure as described above.

[0015] The beneficial effects achieved by this utility model are as follows:

[0016] The robotic arm joint structure provided by this utility model has several modular joints arranged in series. Each modular joint includes a first ball joint seat, a first ball joint cover connected to the first ball joint seat, a first movable disk movably arranged between the first ball joint cover and the first ball joint seat, a first stop block disposed on the first movable disk and retractably connected to the first ball joint seat along the series direction, and a first stop groove disposed on the first ball joint cover along the series direction. The pull rope is arranged along the series direction and is connected to the first movable disk of each modular joint. Adjacent modular joints are locked to each other by the first stop block being inserted into the first stop groove. At this time, the adjacent modular joints are locked together, and the first ball joint cover cannot rotate relative to the ball joint of the first ball joint seat, exhibiting a rigid mode. This allows it to be used in heavy-duty operation scenarios in open spaces. When the pull rope is pulled towards the first ball joint seat... When the first ball joint cover moves to one side, the first movable disc of each module joint can be moved towards the side closer to the first ball joint cover via the pull rope, thereby causing the first stop block of each module joint to disengage from the first stop groove. At this time, the adjacent module joints are in an unlocked state and can rotate relative to the first ball joint seat via the first ball joint cover, which is in a flexible mode and can be used for flexible operation in narrow spaces. Furthermore, by pulling the pull rope towards the side of the first ball joint seat closer to the first ball joint cover, the rigid mode can be quickly switched to the flexible mode. The operation is simple and convenient, so that the robotic arm with this joint structure has both the large operating space and heavy-duty operation capacity of a rigid robotic arm and the small operating space and flexible operation capacity of a flexible robotic arm, which can improve the environmental adaptability of the robotic arm and meet diverse operation needs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the joint structure of a robotic arm according to an embodiment of the present invention.

[0018] Figure 2 This is a partial structural cross-sectional view of a robotic arm joint structure according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the mechanical arm joint structure according to another embodiment of the present invention.

[0020] Figure 4 A partial cross-sectional view of the robotic arm joint structure according to another embodiment of this utility model. Figure 1 .

[0021] Figure 5 A partial cross-sectional view of the robotic arm joint structure according to another embodiment of this utility model. Figure 2 .

[0022] Figure 6 This is a schematic diagram of the motion space of the robotic arm joint structure according to another embodiment of the present invention.

[0023] Figure label:

[0024] Module joint 1; first ball joint seat 11, first ball groove 111; first ball joint cover 12, first spherical surface 121; first movable disc 13, receiving groove 131; first stop block 14, first stop groove 15; first reset member 16; first movable hole 17; first elastic support member 18;

[0025] End joint 2; mounting base 21; second ball joint cover 22; second stop groove 23; second elastic support member 24;

[0026] Base joint 3; second ball joint seat 31; connecting seat 32; second movable plate 33, second stop block 331, third stop block 332; second reset member 34; hinge block 35; first hinge plate 36; second hinge plate 37; third elastic support member 38; base 39;

[0027] Pull rope 4; rope body 41; first limiting block 42; second limiting block 43;

[0028] Drive rope 5;

[0029] Region 1A; Region 2B. Detailed Implementation

[0030] like Figure 1 , Figure 2As shown in the figure, as an embodiment of the present invention, a flexible and rigid robotic arm joint structure is provided, including a pull rope 4 and a plurality of modular joints 1 arranged in series. Each modular joint 1 includes a first ball joint seat 11, a first ball joint cover 12 connected to the first ball joint seat 11, a first movable disk 13 movably arranged between the first ball joint cover 12 and the first ball joint seat 11, a first stop block 14 disposed on the first movable disk 13 and retractably connected to the first ball joint seat 11 along the series direction, and a first stop groove 15 disposed on the first ball joint cover 12 along the series direction. The first ball joint cover 12 is ball-jointed to the first ball joint seat 11 of the adjacent modular joint 1, and the first stop block 14 is inserted into the first stop groove 15 of the adjacent modular joint 1. The pull rope 4 is arranged along the series direction and is connected to the first movable disk 13 of each modular joint 1. When the pull rope 4 moves toward the side of the first ball joint seat 11 closer to the first ball joint cover 12, it can cause the first stop block 14 of each modular joint 1 to disengage from the first stop groove 15. In this embodiment, the robotic arm joint structure has several modular joints 1 arranged in series. Adjacent modular joints 1 are locked together by first stop blocks 14 inserted into first stop grooves 15. At this time, the adjacent modular joints 1 are locked together, and the first ball joint cover 12 cannot rotate relative to the first ball joint seat 11, exhibiting a rigid mode, which can be used in heavy-duty operation scenarios in open spaces. When the pull rope 4 is pulled towards the side of the first ball joint seat 11 near the first ball joint cover 12, the pull rope 4 can drive the first movable disc 13 of each modular joint 1 to move towards the side near the first ball joint cover 12, thereby driving the first stop block 14 of each modular joint 1. 4. Disengage from the first stop groove 15. At this time, the joints 1 of each adjacent module are unlocked and can rotate relative to the first ball joint seat 11 through the first ball joint cover 12, which is in a flexible mode and can be used for flexible operation in narrow spaces. By pulling the pull rope 4 towards the side of the first ball joint seat 11 near the first ball joint cover 12, the rigid mode can be quickly switched to the flexible mode. The operation is simple and convenient. The robotic arm with this joint structure has both the large operating space and heavy-duty operation capacity of the rigid robotic arm and the small operating space and flexible operation capacity of the flexible robotic arm. It can improve the environmental adaptability of the robotic arm and adapt to diversified operation needs.

[0031] like Figure 2As shown, in this embodiment, the pull rope 4 includes a rope body 41 and several first mating parts connected to the rope body 41, which are respectively arranged corresponding to each of the first movable discs 13. The first ball joint seat 11, the first ball joint cover 12 and the first movable disc 13 are respectively provided with first movable holes 17 for the rope body 41 to pass through. The first mating parts are mated and connected with the corresponding first movable discs 13, so that by pulling the pull rope 4 towards the side of the first ball joint seat 11 near the first ball joint cover 12, each of the first mating parts can drive each of the first movable discs 13 to move towards the side of the first ball joint seat 11 near the first ball joint cover 12, thereby simultaneously driving the first stop block 14 of each module joint 1 to disengage from the first stop groove 15. The first movable hole 17 provides a through channel for the rope 41, enabling precise arrangement of the pull rope 4 along the serial direction. It also guides the movement of the rope 41, preventing deviation during the movement of the pull rope 4 and ensuring the stability of the pulling force transmission. The first mating part is connected to the corresponding first movable disc 13, allowing the pulling force of the pull rope 4 to be directly transmitted to the first movable disc 13, thereby driving the first movable disc 13 to move along the serial direction and ensuring a better match between the insertion and removal directions of the first stop block 14 and the first stop groove 15.

[0032] In this embodiment, the first mating part is configured as a first limiting block 42. The first limiting block 42 is positioned on the first movable disk 13 near the first ball joint seat 11. When the pull rope 4 is pulled to move towards the side of the first ball joint seat 11 near the first ball joint cover 12, the first limiting block 42 can push the corresponding first movable disk 13 to move towards the side of the first ball joint seat 11 near the first ball joint cover 12. The first limiting block 42 is fixedly connected to the rope body 41 and moves synchronously with the rope body 41. The structure is simple and practical, and it is convenient to assemble the mechanical arm joint structure. In other embodiments, the first mating part can also be configured as other structures that are snap-fitted or bound to the first movable disk 13.

[0033] In this embodiment, the first stop block 14 is configured as a protruding column structure extending from one side of the first movable disk 13 near the first ball joint seat 11. The first stop block 14 and the first movable disk 13 are integrally formed, providing a firm connection and facilitating stable transmission of pulling force. In other embodiments, the first stop block 14 can also be connected to the first movable disk 13 via a threaded structure, a snap-fit ​​structure, or an adhesive structure.

[0034] In this embodiment, when the pull rope 4 moves, the first limiting block 42 is limited to move between the first movable disk 13 and the first ball joint seat 11, preventing the first movable disk 13 from falling off. At the same time, it ensures that the first stop block 14 always maintains a telescopic connection with the first ball joint seat 11 during the movement of the pull rope 4. A receiving groove 131 for accommodating the first limiting block 42 is recessed on one side of the first movable disk 13 near the first ball joint seat 11. The first limiting block 42 is accommodated in the receiving groove 131, which can reduce or eliminate the height of the first limiting block 42 protruding from the surface of the first movable disk 13 near the first ball joint seat 11, making the structural arrangement of the first movable disk 13, the first ball joint seat 11, and the first ball joint cover 12 more compact.

[0035] like Figure 1 As shown, in this embodiment, four sets of first stop blocks 14 and first stop grooves 15 are arranged around the pull rope 4 between adjacent module joints 1, making the locking state between adjacent module joints 1 more stable. The multiple sets work together to form a circumferential limit, which can improve the overall rigidity and load-bearing capacity of the robotic arm joint structure. In other embodiments, two sets or other numbers of first stop blocks 14 and first stop grooves 15 are arranged around the pull rope 4 between adjacent module joints 1, or the first stop blocks 14 and first stop grooves 15 are respectively set as fan-shaped structures or other polygonal structures arranged around the pull rope 4.

[0036] In this embodiment, three drive ropes 5 are also arranged along the tandem direction. Each drive rope 5 is arranged along the circumference of the pull rope 4 and is threaded through each first ball joint seat 11 and first ball joint cover 12. They can apply driving force to the module joint 1 from different directions to drive the module joint 1 to deflect in different directions and angles, thereby realizing flexible operation in a flexible mode. In other embodiments, the drive ropes 5 may be four or other numbers, and the drive ropes 5 may be threaded only through each first ball joint seat 11 or only through each first ball joint cover 12.

[0037] like Figure 2 As shown, in this embodiment, the outer surface of the first ball joint seat 11 is recessed with a first ball groove 111, and the outer surface of the first ball joint cover 12 is formed with a first spherical surface 121 adapted to the first ball groove 111. The first ball groove 111 and the first spherical surface 121 of the adjacent module joint 1 are spherically rolled together, and in conjunction with each drive rope 5, the ball joint movement between two adjacent module joints 1 is realized. The first movable hole 17 on the first ball joint seat 11 is provided through its first ball groove 111, and the first movable hole 17 on the first ball joint cover 12 is provided through its first spherical surface 121. The width of the first movable hole 17 on the first ball joint seat 11 and the width of the first movable hole 17 on the first ball joint cover 12 are respectively set to be greater than the width of the rope, so that the ball joint movement of the module joint 1 and the pulling movement of the pull rope 4 do not interfere with each other.

[0038] In this embodiment, the modular joint 1 further includes a first reset member 16 disposed on the side of the first movable disk 13 away from the first ball joint seat 11 and between it and the first ball joint cover 12. When the pull rope 4 is in a relaxed state, the first reset member 16 pushes the first movable disk 13 to move towards the first ball joint seat 11 until the first stop block 14 is inserted into the first stop groove 15 of the adjacent modular joint 1, providing a reset force to prevent the first stop block 14 from disengaging from the first stop groove 15, thus keeping the robotic arm joint structure in a rigid mode. Therefore, by pulling the pull rope 4 towards the side of the first ball joint seat 11 near the first ball joint cover 12, the rigid mode can be quickly switched to a flexible mode. By relaxing the pull rope 4, the flexible mode can be reset to the rigid mode under the reset force of the first reset member 16, facilitating flexible switching between the rigid and flexible modes. In this embodiment, the first reset member 16 is set as a compression spring. In other embodiments, the first reset member 16 can also be set as elastic silicone, rubber, or other structures that can provide elastic reset force.

[0039] like Figure 1 As shown, in this embodiment, three first elastic support members 18 are arranged around the pull rope 4 between the first ball joint seat 11 and the first ball joint cover 12 of the adjacent module joint 1. The three first elastic support members 18 are staggered with the three drive ropes 5, which can provide elastic support for the deflection of the module joint 1 in flexible mode, avoid rigid collisions during deflection, reduce component wear, and at the same time, assist in bearing part of the load in rigid mode, thereby improving the stability of the robotic arm joint structure. In this embodiment, the first elastic support member 18 is set as a compression spring. In other embodiments, the first elastic support member 18 can also be set as a structure that can provide elastic restoring force, such as elastic silicone or elastic rubber. The first elastic support member 18 can also be four or other numbers.

[0040] like Figures 3-5As shown, as another embodiment of this utility model, a robotic arm joint structure is also provided. The difference between this embodiment and the previous embodiment is that it also includes an end joint 2. The end joint 2 includes a mounting base 21 for mounting the operating structure, a second ball joint cover 22 connected to the mounting base 21, and a second stop groove 23 disposed on the second ball joint cover 22 along the tandem direction. The second ball joint cover 22 is ball jointly connected to the first ball joint seat 11 of the end module joint 1. The first stop block 14 of the end module joint 1 is inserted into the second stop groove 23, so that the second ball joint cover 22 and the end module joint 1 are locked together. At this time, the adjacent module joints 1 and the end module joint 1 and the end joint 2 are locked together. The first ball joint cover 12 cannot be ball jointed relative to the first ball joint seat 11, and the second ball joint cover 22 cannot be ball jointed relative to the first ball joint seat 11, so that the end joint 2 and each module joint 1 are in a rigid mode as a whole. When the pull rope 4 moves toward the side of the first ball joint seat 11 near the first ball joint cover 12, it causes the first stop block 14 of each module joint 1 to disengage from the first stop groove 15, and at the same time causes the first stop block 14 of the end module joint 1 to disengage from the second stop groove 23. At this time, the adjacent module joints 1 and the end module joint 1 and the end joint 2 are in an unlocked state, and can be rotated relative to the first ball joint seat 11 by the first ball joint cover 12, and the second ball joint cover 22 can be rotated relative to the first ball joint seat 11, so that the end joint 2 and each module joint 1 are in a flexible mode as a whole.

[0041] like Figure 3 As shown, in this embodiment, each drive rope 5 is threaded through each first ball joint seat 11, first ball joint cover 12, mounting base 21, and second ball joint cover 22. Three second elastic support members 24 are arranged around the pull rope 4 between the mounting base 21 and the first ball joint seat 11 of the end module joint 1. The three second elastic support members 24 are staggered with the three drive ropes 5, providing elastic support for the deflection of the end joint 2 in flexible mode, avoiding rigid collisions during deflection, reducing component wear, and simultaneously assisting in bearing part of the load in rigid mode, improving the stability of the robotic arm joint structure. In this embodiment, the second elastic support member 24 is set as a compression spring. In other embodiments, the second elastic support member 24 can also be set as a structure that can provide elastic restoring force, such as elastic silicone or elastic rubber. In other embodiments, the second elastic support member 24 can also be four or other quantities.

[0042] like Figure 4As shown, this embodiment also includes a base joint 3, which includes a second ball joint seat 31, a connecting seat 32 connected to the second ball joint seat 31, a second movable disk 33 movably arranged between the second ball joint seat 31 and the connecting seat 32, a second stop block 331 disposed on the second movable disk 33 and retractably connected to the second ball joint seat 31 along the tandem direction, a hinge block 35, and two rotation axes disposed on the connecting seat 32 respectively arranged on both sides of the length direction of the hinge block 35 and arranged along the width direction of the hinge block 35, which are hinged to the hinge. The system comprises a first hinge plate 36 hinged to block 35, two second hinge plates 37 mounted on base 39 and arranged on both sides of the width direction of hinge block 35 and along the length direction of hinge block 35 with rotation axes hinged to hinge block 35, a third stop block 332 mounted on second movable plate 33 and retractably connected to connecting seat 32, three third elastic support members 38 arranged around pull rope 4 and respectively supported between connecting seat 32 and base 39, and a base 39 for mounting the main body of a robot such as a sweeping robot. The second ball joint seat 31 is ball-jointed to the first ball joint cover 12 of the first end module joint 1, and the second stop block 331 is inserted into the first stop groove 15 of the first end module joint 1. The first hinge plate 36 and the second hinge plate 37 can rotate relative to the hinge block 35, allowing the connecting seat 32, the second ball joint seat 31, each module joint 1, and the end joint 2 to deflect relative to the base 39 in both the length and width directions, thereby achieving flexible operation of the robotic arm joint structure. The third stop block 332 is arranged opposite to and spaced apart from the two second hinge plates 37, thus providing deflection space for the deflection movement in both directions when the pull rope 4 is in a relaxed state, and preventing the deflection movement from being hindered by the third stop block 332 abutting against the two second hinge plates 37. In this embodiment, the third elastic support member 38 is set as a compression spring. In other embodiments, the third elastic support member 38 can also be set as a structure that can provide elastic restoring force, such as elastic silicone or elastic rubber. In other embodiments, the third elastic support member 38 can also be four or other quantities.

[0043] In this embodiment, the pull rope 4 is connected to the second movable disc 33 and the first movable disc 13 of each module joint 1. When the pull rope 4 moves toward the side of the first ball joint seat 11 near the first ball joint cover 12, it simultaneously drives the first stop block 14 of each module joint 1 to disengage from the first stop groove 15, drives the second stop block 331 of the base joint 3 to disengage from the first stop groove 15 of the first end of the module joint 1, and drives the third stop block to press against and support the two second hinge plates 37. Thus, when the pull rope 4 is in a taut state, the third stop block presses against and supports the two second hinge plates 37 to prevent the connecting seat 32, the second ball joint seat 31, each module joint 1, and the end joint 2 from deflecting relative to the base 39 in both the length and width directions.

[0044] like Figure 5 As shown, in this embodiment, the base joint 3 can also be provided with a second reset member 34 on the side of the second movable disk 33 near the second ball joint seat 31 and between the second ball joint seat 31. When the pull rope 4 is in a relaxed state, the second reset member can pull the second movable disk 33 towards the direction near the second ball joint seat 31 and into the first stop groove 15 of the first end module joint 1 where the second stop block 331 is inserted and engaged. This provides a reset force to prevent the second stop block 331 from disengaging from the first stop groove 15, so that the base joint 3 and the first end module joint 1 are rigidly connected and the mechanical arm joint structure is kept in a rigid mode. Thus, by pulling the pull rope 4 towards the side of the second ball joint seat 31 near the connecting seat 32, the rigid mode can be quickly switched to a flexible mode. By relaxing the pull rope 4, the flexible mode can be reset to the rigid mode under the reset force of the second reset member 34. In this embodiment, the second reset member 34 is configured as a tension spring. In other embodiments, the second reset member 34 may also be configured as other structures such as elastic silicone or rubber that can provide elastic reset force, or the second reset member 34 may also be configured as a compression spring arranged on the side of the second movable disk 33 away from the second ball joint seat 31 and between the connecting seat 32 or the first hinge plate 36.

[0045] In this embodiment, the pull rope 4 further includes a second mating part connected to the rope body 41 and correspondingly arranged with the second movable disc 33. The second ball joint seat 31, the connecting seat 32, and the second movable disc 33 are each provided with a second movable hole through which the rope body 41 passes. The second mating part is mated with the corresponding second movable disc 33, so that by pulling the pull rope 4 towards the side of the second ball joint seat 31 near the connecting seat 32, the second mating part drives the second movable disc 33 to move towards the side of the second ball joint seat 31 near the connecting seat 32, thereby simultaneously causing the second stop block 331 to disengage from the first stop groove 15. In this embodiment, the second mating part is configured as a second limiting block 43, which is positioned on the side of the second movable disc 33 near the second ball joint seat 31. When the pull rope 4 is pulled towards the side of the second ball joint seat 31 near the connecting seat 32, the second limiting block 43 pushes the second movable disc 33 towards the side of the second ball joint seat 31 near the connecting seat 32. The second limiting block 43 is fixedly connected to the rope 41 and moves synchronously with the rope 41. The structure is simple and practical, and it is convenient to assemble the mechanical arm joint structure. In other embodiments, the second mating part can also be set as other structures that are snapped or bound to the second movable disk 33.

[0046] In this embodiment, the first ball joint seat 11 and the first ball joint cover 12 are fixed together by fasteners such as screws (not shown in the figure). The first ball joint seat 11 has a recessed structure on the side near the first ball joint cover 12, and the first ball joint cover 12 has a protrusion structure arranged corresponding to the recessed structure. The first ball joint seat 11 and the first ball joint cover 12 are engaged and positioned within the recessed structure through the insertion of the protrusion structure, forming a ball joint pair. The mounting base 21 and the second ball joint cover 22 are fixed together by fasteners such as screws (not shown in the figure). The mounting base 21 has a recessed structure on the side near the second ball joint cover 22, and the second ball joint cover 22 has a protrusion structure arranged corresponding to the recessed structure. The mounting base 21 and the second ball joint cover 22 are engaged and positioned within the recessed structure through the insertion of the protrusion structure, forming a ball joint pair. The mounting base 21 is provided with a screw fixing structure that can be fixedly connected to the base 39 for easy carrying. The second ball joint seat 31 and the connecting seat 32 are fixed together by fasteners such as screws (not shown in the figure). The second ball joint seat 31 has a recessed structure on the side near the connecting seat 32, and the connecting seat 32 has a protrusion structure arranged corresponding to the recessed structure. The second ball joint seat 31 and the connecting seat 32 are engaged and positioned in the recessed structure through the insertion of the protrusion structure, forming a ball joint pair.

[0047] In this embodiment, a robotic arm joint structure consists of 8 modular joints 1, 1 end joint 2, and 1 base joint 3, wherein the end joint 2 and each modular joint 1 have a movement angle of 10°, and the base joint 3 has a movement angle of 60°.

[0048] In this embodiment, when the pull rope 4 is in a relaxed state, each of the first movable discs 13, under the elastic restoring force of the first reset member 16, keeps its first stop block 14 engaged with the corresponding first stop groove 15 or second stop groove 23, so that the two adjacent module joints 1 and the end joint 2 and the end module joint 1 are locked together; under the elastic restoring force of the second reset member 34, the connecting seat 32 keeps its second stop block 331 engaged with the corresponding first stop groove 15, and at the same time keeps its third stop block 332 and the two second hinge plates 37 arranged opposite to each other and spaced apart, so that the second ball joint seat 31 and the connecting seat 32 of the base joint 3 are locked with the first end module joint 1, while the third stop block 332 of the base joint 3 and the second hinge plate 37 of the base joint 3 are unlocked. At this time, when the drive rope 5 is pulled, the end joint 2 and each module joint 1 remain in a vertical state, the base joint 3 can swing 60°, and the joint structure of the robotic arm is in a rigid mode, such as Figure 6 As shown, its motion space is region A.

[0049] When the pull rope 4 is taut, each of the first movable discs 13 moves towards the side of the first ball joint seat 11 near the first ball joint cover 12 under the pulling force of the pull rope 4, causing the first stop block 14 on it to disengage from the corresponding first stop groove 15 or second stop groove 23, so that the two adjacent module joints 1 and the end joint 2 and the end module joint 1 are in an unlocked state; under the pulling force of the pull rope 4, the connecting seat 32 causes the second stop block 331 on it to disengage from the corresponding first stop groove 15, and at the same time causes the third stop block 332 on it to press against and support the two second hinge plates 37, so that the second ball joint seat 31 and the connecting seat 32 of the base joint 3 are in an unlocked state with the first end module joint 1, while the third stop block 332 of the base joint 3 and the second hinge plate 37 of the base joint 3 are in a locked state. At this time, when the drive rope 5 is pulled, the base joint 3 remains vertical and stationary, while the end joint 2 and each module joint can swing at equal angles within a range of 10°. The robotic arm joint structure is flexible, as shown below. Figure 6 As shown, its motion space is region B.

[0050] like Figure 6 As shown, the motion space of region A is greater than that of region B, which enables the robotic arm to be used in heavy-duty operation scenarios in open spaces when the joint structure is in rigid mode, and in flexible operation scenarios in narrow spaces when the joint structure is in flexible mode. This improves the environmental adaptability of the robotic arm and allows it to meet diverse operational needs.

[0051] As another embodiment of the present invention, a robotic arm is also provided, including the rigid-flexible robotic arm joint structure as described above. The robotic arm in this embodiment, due to the adoption of the rigid-flexible robotic arm joint structure provided by the present invention, also has both the large operating space and heavy-duty operation capability of a rigid robotic arm and the small operating space and flexible operation capability of a flexible robotic arm.

[0052] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the patent of the present utility model.

Claims

1. A flexible and rigid robotic arm joint structure, characterized in that, It includes a pull rope and several modular joints arranged in series, among which: The module joint includes a first ball joint seat, a first ball joint cover connected to the first ball joint seat, a first movable disk movably arranged between the first ball joint cover and the first ball joint seat, a first stop block disposed on the first movable disk and retractably connected to the first ball joint seat along the tandem direction, and a first stop groove disposed on the first ball joint cover along the tandem direction. The first ball joint cover is ball jointly connected to the first ball joint seat of the adjacent module joint, and the first stop block is inserted into the first stop groove of the adjacent module joint; the pull rope is arranged along the tandem direction and is connected to the first movable disc of each module joint. When the pull rope moves toward the side of the first ball joint seat that is close to the first ball joint cover, it can drive the first stop block of each module joint to disengage from the first stop groove.

2. The mechanical arm joint structure according to claim 1, characterized in that: The pull rope includes a rope body and several first mating parts connected to the rope body, which are respectively arranged corresponding to each of the first movable discs. The first ball joint seat, the first ball joint cover and the first movable disc are respectively provided with first movable holes for the rope body to pass through. The first mating parts are mated and connected with the corresponding first movable discs.

3. The mechanical arm joint structure according to claim 2, characterized by: The first mating part is configured as a first limiting block, which is arranged on the first movable plate near the first ball joint seat.

4. The mechanical arm joint structure according to claim 3, characterized by: The first stop block is configured as a protruding column structure that protrudes from one side of the first movable disk near the first ball joint seat. When the pull rope moves, the first limiting block is limited to move between the first movable disk and the first ball joint seat. The first movable disk has a recessed receiving groove on one side near the first ball joint seat for accommodating the first limiting block.

5. The mechanical arm joint structure according to claim 2, characterized by: At least two sets of the first stop blocks and first stop grooves, which are arranged correspondingly between two adjacent module joints, are arranged around the pull rope.

6. The mechanical arm joint structure according to claim 2, characterized by: It also includes several drive ropes arranged along the tandem direction. The drive ropes are arranged along the circumference of the pull rope and are threaded onto each first ball joint seat and / or first ball joint cover, for driving the module joints to deflect in different directions and angles respectively. The outer surface of the first ball joint seat is recessed with a first ball groove, and the outer surface of the first ball joint cover is formed with a first spherical surface adapted to the first ball groove. The first ball groove and the first spherical surface of the adjacent module joint are spherically rolled together. The first movable hole on the first ball joint seat is provided through its first ball groove, and the first movable hole on the first ball joint cover is provided through its first spherical surface. The width of the first movable hole on the first ball joint seat and the width of the first movable hole on the first ball joint cover are respectively set to be greater than the width of the rope.

7. The mechanical arm joint structure according to claim 1, characterized by: The modular joint further includes a first reset member disposed on the side of the first movable plate away from the first ball joint seat and between the first ball joint cover and the first reset member, the first reset member being capable of providing a reset force to prevent the first stop block from disengaging from the first stop groove; And / or, the first ball joint seat and the first ball joint cover of the adjacent module joint are supported by a plurality of first elastic supports arranged around the pull rope.

8. The mechanical arm joint structure according to any one of claims 1-7, characterized in that: It also includes an end joint, which includes a mounting base for mounting operating structures such as mechanical grippers, a second ball joint cover connected to the mounting base, and a second stop groove disposed on the second ball joint cover along the tandem direction. The second spherical hinge cover is connected with the first spherical hinge seat of the module joint at the end, and the first stop block of the module joint at the end is inserted into the second stop groove. When the pull rope moves towards the side of the first spherical hinge cover close to the first spherical hinge seat, the first stop block of the module joint at the end is separated from the second stop groove.

9. The mechanical arm joint structure according to any one of claims 1-7, characterized in that: The base joint comprises a second spherical hinge seat, a connecting seat connected with the second spherical hinge seat, a second movable disc movably arranged between the second spherical hinge seat and the connecting seat, a second stop block arranged on the second movable disc and telescopically connected with the second spherical hinge seat in the string direction, a hinge block, two first hinge plates arranged on the connecting seat and hinged with the hinge block along the rotation axis arranged on the two sides of the hinge block in the length direction and arranged in the width direction of the hinge block, two second hinge plates arranged on the base and hinged with the hinge block along the rotation axis arranged on the two sides of the hinge block in the width direction and arranged in the length direction of the hinge block, a third stop block arranged on the second movable disc and telescopically connected with the connecting seat, a plurality of third elastic supports arranged around the pull rope and respectively supported between the connecting seat and the base, and a base for mounting the machine body; the third stop block is arranged opposite to the two second hinge plates and is spaced apart; The second spherical hinge seat is connected with the first spherical hinge cover of the module joint at the end, and the second stop block is inserted into the first stop groove of the module joint at the end. The pull rope is connected with the second movable disc and the first movable disc of each module joint, and when the pull rope moves towards the side of the first spherical hinge cover close to the first spherical hinge seat, the second stop block is separated from the first stop groove of the module joint at the end, and the third stop block supports the two second hinge plates.

10. A robot arm, characterized by: The mechanical arm joint structure comprises the base joint and the module joint at the end.

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