Modularized mechanical arm joint module

Abstract

The utility model relates to the technical field of mechanical arm joint modules, in particular to a modularized mechanical arm joint module which comprises a base and a mechanical arm joint body, a mechanical arm is installed at one end of the mechanical arm joint body, and a second gear meshed with a first gear is fixedly installed on a rotating shaft. The mode that a traditional mechanical arm joint body cannot rotate is changed, the mechanical arm joint body can rotate and be adjusted, the core function of the mechanical arm joint body cannot be directly affected, a series of technical, application and safety problems cannot be caused, it means that the degree of freedom cannot be locked, and the mechanical arm joint body can be adjusted in a rotating mode. The structure has the advantages that the mechanical arm can complete tasks needing to move in the direction (such as bypassing obstacles and adjusting the tail end posture), the core advantage of modular design is flexible recombination, the joints can rotate, and therefore the structure of the combined mechanical arm is not limited, and the mechanical arm can meet the dynamic task requirement.

Description

Technical Field

[0001] This utility model relates to a modular robotic arm joint module, and more particularly to a modular robotic arm joint module, belonging to the technical field of robotic arm joint modules. Background Technology

[0002] Modular robotic arm joint modules are the core functional units of robotic arms, which can be understood as the "joints" of the robotic arm. They possess the ability to be independently designed, installed, replaced, or upgraded. Through standardized interfaces and customizable functions, they enable flexible combination and rapid deployment. They are key components for achieving precise movement and intelligent control of robotic arms. Each joint module can be designed, manufactured, tested, and maintained independently, without relying on the overall arm structure. They adopt unified mechanical interfaces (such as flanges) and communication protocols (such as EtherCAT and CAN bus), supporting plug-and-play functionality. Through modular design, researchers can freely increase or decrease the number of joints (e.g., from 6 axes to 7 axes) or replace joint modules with different performance characteristics (e.g., from high-precision rotary joints to flexible motion joints), quickly adapting to diverse task requirements such as upright walking, climbing, and grasping. With biomimetic structural optimization, mimicking the multi-degree-of-freedom design of the human shoulder joint, and achieving human-like dexterous operation through modular splicing (such as the shoulder module of Boston Dynamics' Atlas), modular robotic arm joint modules, through a three-in-one design of hardware decoupling, software definition, and intelligent perception, have become the core carrier for the research of next-generation humanoid and embodied intelligent robots.

[0003] Traditional robotic arm joint modules have fixed structures. Some modular robotic arm joint modules cannot rotate, which directly affects their core functions (flexible movement and precise positioning) and leads to a series of technical, application, and safety issues. The inability of a joint to rotate means that the degree of freedom (such as pitch, yaw, or roll) is locked, and the robotic arm cannot complete tasks that require movement in that direction (such as bypassing obstacles or adjusting the end effector). The core advantage of modular design is flexible reconfiguration, but joint rotation failure will limit the configuration of the assembled robotic arm (such as the inability to achieve a spherical workspace) and make it difficult to adapt to dynamic task requirements.

[0004] Therefore, there is an urgent need to improve a modular robotic arm joint module to solve the aforementioned problems. Utility Model Content

[0005] The purpose of this invention is to provide a modular robotic arm joint module. By setting a rotating structure, it changes the traditional way in which the main body of the robotic arm joint cannot rotate. The main body of the robotic arm joint can be rotated and adjusted, so as not to directly affect its core functions (flexible movement and precise positioning) and cause a series of technical, application and safety issues. Therefore, it means that the degree of freedom (such as pitch, yaw or roll) will not be locked. The advantage of this structure is that the robotic arm can complete tasks that require movement in this direction (such as bypassing obstacles, adjusting the end effector posture). The core advantage of the modular design is flexible reconfiguration. The joints can rotate so that the configuration of the combined robotic arm is not restricted, thus it can adapt to dynamic task requirements.

[0006] To achieve the above objectives, the main technical solutions adopted by this utility model include:

[0007] A modular robotic arm joint module includes a base and a robotic arm joint body. A robotic hand is installed at one end of the robotic arm joint body. A rotating structure is provided on the base. The rotating structure includes a drive motor fixedly installed on the top of the base. A first gear is fixedly installed on the output end of the drive motor. A rotating shaft is movably installed on the base. A connecting column connected to the robotic arm joint body is fixedly installed on the top of the rotating shaft. A second gear that meshes with the first gear is fixedly installed on the rotating shaft.

[0008] Preferably, a first protective shell and a second protective shell are respectively installed on the outside of the drive motor, and the second protective shell has multiple heat dissipation holes.

[0009] Preferably, the base has multiple sliding grooves, and a sliding rod connected to the first protective shell is movably installed inside the sliding groove.

[0010] Preferably, a plurality of limiting plates are fixedly installed on the side of the base, and a push block is provided between the limiting plates. One end of the push block is fixedly installed with a blocking block connected to the slide groove.

[0011] Preferably, both the limiting plate and the push block have limiting holes, and the limiting plate is equipped with a limiting rod connected to the push block.

[0012] Preferably, a plurality of connecting rods are fixedly installed on one side of the second protective shell, and a plurality of mounting holes are provided on the connecting rods. A spring is fixedly installed inside the mounting hole, and a retaining ball is fixedly installed at one end of the spring. A plurality of insertion holes that match the connecting rods are provided on the first protective shell, and a plurality of retaining holes that cooperate with the retaining ball are provided on the inner side of the insertion holes.

[0013] Preferably, both the main body of the robotic arm joint and the robotic arm have connection holes. A fixing block is fixedly installed on one side of the main body of the robotic arm joint. A plug is movably installed inside the connection hole. A latch connected to the fixing block is fixedly installed at one end of the plug. A groove adapted to the latch is provided on the inner side of the fixing block.

[0014] This utility model has at least the following beneficial effects:

[0015] By incorporating a rotating structure, the traditional robotic arm joint body is no longer able to rotate. The robotic arm joint body can now rotate and adjust, thus not directly affecting its core functions (flexible movement and precise positioning) and preventing a series of technical, application, and safety issues. This means that the degree of freedom (such as pitch, yaw, or roll) will not be locked. The advantage of this structure is that the robotic arm can complete tasks that require movement in that direction (such as bypassing obstacles or adjusting the end effector posture). The core advantage of modular design is flexible reconfiguration. The joints can rotate, so the combined robotic arm configuration is not restricted, thus adapting to dynamic task requirements. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the drive motor structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the fixing block structure of this utility model;

[0020] Figure 4 For the present utility model Figure 2 Enlarged view of point A in the middle;

[0021] Figure 5 For the present utility model Figure 2 Enlarged view at point B in the middle;

[0022] Figure 6 For the present utility model Figure 3 Enlarged view at point C;

[0023] Figure 7 For the present utility model Figure 2 Enlarged view of point D in the middle.

[0024] In the diagram: 1. Base; 2. Main body of the robotic arm joint; 3. Robotic hand; 4. Rotating structure; 5. Drive motor; 6. First gear; 7. Rotating shaft; 8. Connecting column; 9. Second gear; 10. First protective shell; 11. Second protective shell; 12. Heat dissipation hole; 13. Slide groove; 14. Slide rod; 15. Limiting plate; 16. Push block; 17. Blocking block; 18. Limiting hole; 19. Limiting rod; 20. Connecting rod; 21. Mounting hole; 22. Spring; 23. Ball retainer; 24. Insertion hole; 25. Connecting hole; 26. Fixing block; 27. Insertion rod; 28. Locking bolt. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0026] like Figures 1-7 As shown in the figure, this embodiment provides a modular robotic arm joint module embodiment.

[0027] A modular robotic arm joint module includes a base 1 and a robotic arm joint body 2. A robotic hand 3 is mounted on one end of the robotic arm joint body 2. A rotating structure 4 is provided on the base 1. The rotating structure 4 includes a drive motor 5 fixedly mounted on the top of the base 1. A first gear 6 is fixedly mounted on the output end of the drive motor 5. A rotating shaft 7 is movably mounted on the base 1. A connecting post 8 connected to the robotic arm joint body 2 is fixedly mounted on the top of the rotating shaft 7. A second gear 9 meshing with the first gear 6 is fixedly mounted on the rotating shaft 7. By setting up the rotating structure 4, the traditional way in which the robotic arm joint body 2 cannot rotate is changed. The robotic arm joint body 2 can be rotated and adjusted, thus not directly affecting its core functions (flexible movement and precise positioning) and causing a series of technical, application, and safety issues. Therefore, it means that the degree of freedom (such as pitch, yaw, or roll) is... The robotic arm joint body 2 will not be locked. If the robotic arm joint body 2 needs to be rotated, the drive motor 5 is started first to drive the first gear 6 to start rotating. Due to the connection between the first gear 6 and the second gear 9, the second gear 9 can also rotate at the same time as the first gear 6 rotates. When the second gear 9 rotates, the rotating shaft 7 can drive the connecting column 8 to start rotating. Therefore, the robotic arm joint body 2 can adjust its angle under the drive of the connecting column 8, thereby improving the flexibility and operating range of the robotic hand 3 installed at one end of the robotic arm joint body 2. The advantage of this structure is that the robotic arm can complete tasks that require movement in this direction (such as bypassing obstacles and adjusting the end posture). The core advantage of modular design is flexible reconfiguration. The joints can rotate so that the configuration of the combined robotic arm is not restricted, thus adapting to dynamic task requirements.

[0028] like Figure 2 and Figure 3 As shown, a first protective shell 10 and a second protective shell 11 are respectively installed on the outside of the drive motor 5. The second protective shell 11 has multiple heat dissipation holes 12. The arrangement of the first protective shell 10, the second protective shell 11 and the heat dissipation holes 12 can protect the drive motor 5 and the mechanical components of the transmission, preventing them from being damaged by collisions. The multiple heat dissipation holes 12 on the second protective shell 11 can dissipate the heat generated by the drive motor 5 during operation, preventing the internal temperature of the first protective shell 10 and the second protective shell 11 from becoming too high and causing the drive motor 5 to malfunction.

[0029] like Figure 2As shown, the base 1 has multiple sliding grooves 13. Inside the sliding grooves 13, sliding rods 14 connected to the first protective shell 10 are movably installed. By setting the sliding grooves 13 and sliding rods 14, the friction between the first protective shell 10 and the second protective shell 11 can be reduced, making the first protective shell 10 and the second protective shell 11 slide more smoothly on the base 1. Therefore, it can not only reduce the wear between the first protective shell 10 and the second protective shell 11 and the base 1, but also make it convenient for personnel to open the first protective shell 10 and the second protective shell 11 to inspect the drive motor 5.

[0030] like Figure 4 As shown, multiple limiting plates 15 are fixedly installed on the side of the base 1, and push blocks 16 are arranged between the limiting plates 15. A blocking block 17 connected to the slide groove 13 is fixedly installed at one end of the push block 16. By setting the limiting plates 15, push blocks 16 and blocking blocks 17, pushing the push block 16 can drive the blocking block 17 to move to one end of the slide rod 14 and fit against it, thereby limiting the slide rod 14 and preventing the slide rod 14 from slipping out of the inside of the slide rod 14, which would cause the second protective shell 11 and the first protective shell 10 to detach from the base 1. After pulling the push block 16 to remove the blocking block 17 from the slide rod 14, the first protective shell 10 and the second protective shell 11 can be disassembled normally.

[0031] like Figure 4 As shown, both the limiting plate 15 and the push block 16 have limiting holes 18. The limiting plate 15 is equipped with a limiting rod 19 connected to the push block 16. By setting the limiting holes 18 and the limiting rod 19, after the limiting rod 19 is inserted into the limiting hole 18 and the push block 16 is connected to the limiting plate 15, the push block 16 can be limited, thereby preventing the push block 16 from slipping when the blocking block 17 blocks the slide rod 14, thus improving the stability of the push block 16. After the limiting rod 19 is disengaged from the limiting hole 18, the push block 16 can be pushed and pulled normally.

[0032] like Figure 5 and Figure 6As shown, multiple connecting rods 20 are fixedly installed on one side of the second protective shell 11. Multiple mounting holes 21 are provided on the connecting rods 20. A spring 22 is fixedly installed inside each mounting hole 21. A retaining ball 23 is fixedly installed at one end of each spring 22. Multiple insertion holes 24 are provided on the first protective shell 10 to mate with the connecting rods 20. Multiple retaining holes 23 are provided inside each insertion hole 24 to mate with the retaining ball 23. Through the arrangement of the connecting rods 20, mounting holes 21, springs 22, retaining balls 23, insertion holes 24, and retaining holes, the multiple connecting rods 20 at one end of the second protective shell 11 are connected... After the connecting rod 20 is inserted into the socket 24, the locking ball 23 can be engaged in the locking hole inside the socket 24 under the elastic action of the spring 22, thereby fixing the connecting rod 20 inside the socket 24. This completes the splicing of the second protective shell 11 and the first protective shell 10. When the first protective shell 10 and the second protective shell 11 are pulled outward, the locking ball 23 will be squeezed and contracted into the mounting hole 21, thereby pulling the connecting rod 20 out of the socket 24. This not only makes it easy to open the second protective shell 11 and the first protective shell 10, but also saves personnel time.

[0033] like Figure 3 and Figure 7 As shown, both the robotic arm joint body 2 and the robotic hand 3 have connection holes 25. A fixing block 26 is fixedly installed on one side of the robotic arm joint body 2. A plug rod 27 is movably installed inside the connection hole 25. One end of the plug rod 27 is fixedly installed with a latch 28 that connects to the fixing block 26. A groove adapted to the latch 28 is provided on the inner side of the fixing block 26. Through the arrangement of the connection hole 25, fixing block 26, plug rod 27, latch 28 and groove, the plug rod 27 is inserted into the connection hole 25 until it reaches the fixing block 26. Then the plug rod 27 is rotated to lock the latch. The bolt 28 can engage in the groove on the fixing block 26, thereby fixing the insert rod 27 inside the connection hole 25. This allows the assembly of the robotic arm joint body 2 and the robotic hand 3 to be completed. This assembly method is simple and uncomplicated, thus saving personnel time in assembling the base 1 and the robotic arm joint body 2. After rotating the insert rod 27 to disengage the bolt 28 from the groove on the fixing block 26, the insert rod 27 can be pulled out from the connection hole 25, thereby separating the robotic arm joint body 2 and the robotic hand 3 for easy inspection or replacement when damaged.

[0034] In this embodiment, as Figures 1-7 As shown, the working process of a modular robotic arm joint module provided in this embodiment is as follows:

[0035] When the main body 2 of the robotic arm joint needs to be rotated, the drive motor 5 is started first to drive the first gear 6 to start rotating. Due to the connection between the first gear 6 and the second gear 9, the second gear 9 can also rotate at the same time as the first gear 6 rotates. When the second gear 9 rotates, the rotating shaft 7 can drive the connecting column 8 to start rotating. Therefore, the main body 2 of the robotic arm joint can be angled under the drive of the connecting column 8, thereby improving the flexibility and operating range of the robotic hand 3 installed at one end of the main body 2 of the robotic arm joint.

[0036] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A modular robotic arm joint module, comprising a base (1) and a robotic arm joint body (2), wherein a robotic hand (3) is mounted on one end of the robotic arm joint body (2), characterized in that: The base (1) is provided with a rotating structure (4), the rotating structure (4) includes a drive motor (5) fixedly installed on the top of the base (1), a first gear (6) is fixedly installed on the output end of the drive motor (5), a rotating shaft (7) is movably installed on the base (1), a connecting column (8) connected to the main body (2) of the robotic arm joint is fixedly installed on the top of the rotating shaft (7), and a second gear (9) meshing with the first gear (6) is fixedly installed on the rotating shaft (7).

2. The modular robotic arm joint module according to claim 1, characterized in that: The drive motor (5) is equipped with a first protective shell (10) and a second protective shell (11) on its outer side. The second protective shell (11) has multiple heat dissipation holes (12).

3. A modular robotic arm joint module according to claim 2, characterized in that: The base (1) has multiple grooves (13), and a slide rod (14) connected to the first protective shell (10) is movably installed inside the groove (13).

4. A modular robotic arm joint module according to claim 3, characterized in that: Multiple limiting plates (15) are fixedly installed on the side of the base (1), and push blocks (16) are arranged between the limiting plates (15). A blocking block (17) connected to the slide (13) is fixedly installed at one end of the push block (16).

5. A modular robotic arm joint module according to claim 4, characterized in that: Both the limiting plate (15) and the push block (16) have limiting holes (18), and the limiting plate (15) is equipped with a limiting rod (19) connected to the push block (16).

6. A modular robotic arm joint module according to claim 2, characterized in that: A plurality of connecting rods (20) are fixedly installed on one side of the second protective shell (11). A plurality of mounting holes (21) are provided on the connecting rods (20). A spring (22) is fixedly installed inside the mounting hole (21). A retaining ball (23) is fixedly installed at one end of the spring (22). A plurality of insertion holes (24) that match the connecting rods (20) are provided on the first protective shell (10). A plurality of retaining holes that cooperate with the retaining ball (23) are provided on the inner side of the insertion hole (24).

7. A modular robotic arm joint module according to claim 1, characterized in that: Both the robotic arm joint body (2) and the robotic hand (3) are provided with connection holes (25). A fixing block (26) is fixedly installed on one side of the robotic arm joint body (2). A plug rod (27) is movably installed inside the connection hole (25). A latch (28) connected to the fixing block (26) is fixedly installed at one end of the plug rod (27). A groove adapted to the latch (28) is provided on the inner side of the fixing block (26).

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