Robotic arm

Abstract

The utility model relates to a kind of mechanical arm, on the mechanical arm, only in the fixed device and the mechanical arm device two one of them is set up power supply device, and through the setting of energizing component, so that fixed device and mechanical arm device can be automatically completed electric connection after assembly, so that single power supply device can be energized component simultaneously to fixed device and mechanical arm device power supply.So, it can avoid the setting of multiple power supply devices to cause the problem of product cost and overall weight too large, on the one hand, reduce the production cost of product, on the other hand, it can also improve the portability of product.In addition, the mechanical arm of the utility model can also be quickly disassembled and assembled, improve the disassembly convenience of product.

Description

Technical Field

[0001] This utility model relates to the field of toys, and more particularly to robotic arms. Background Technology

[0002] In the toy industry, robotic arms are typically mounted on a base to provide necessary stability and support. Both the base and the robotic arm body may integrate various electrical components, such as drive motors, sensor modules, or control circuits, to enable the robotic arm's joint movements, grasping functions, interactive responses, and other functions.

[0003] However, existing robotic arms still have certain shortcomings in practical use: First, when the base and the robotic arm each have their own independent power components, existing solutions usually require separate power supply units for both. This not only significantly increases the manufacturing cost of the product but also increases the overall weight due to the weight of the additional power supply. Second, the connection structure between the robotic arm and the fixed base is too complex, making operation cumbersome and time-consuming, and greatly reducing the ease of use. Utility Model Content

[0004] This utility model provides a robotic arm that can solve the problems of high product cost, heavy weight, and low ease of use.

[0005] This utility model provides a robotic arm, which includes: The fixing device has an installation groove, and a limit groove is provided in the installation groove; robotic arm device; A connecting device includes a latching assembly and a power-conducting assembly. The latching assembly includes a latch and a locking hole, one of which is disposed on the robotic arm device, and the other of which is disposed in the mounting groove. The power-conducting assembly includes a first conductive connector and a second conductive connector, the first conductive connector being disposed on the robotic arm device, and the second conductive connector being disposed in the mounting groove. A power supply device, wherein the power supply device is disposed on the robotic arm device and electrically connected to the first conductive connector, or the power supply device is disposed on the fixing device and electrically connected to the second conductive connector; When the robotic arm device is detachably installed in the mounting groove, at least a portion of the robotic arm device is inserted into the limiting groove, the buckle is movably locked in the buckle hole, and the first conductive connector and the second conductive connector are plugged in and connected.

[0006] Preferably, the first conductive connector includes a conductive post electrically connected to the power supply device, and the second conductive connector includes a conductive socket, wherein the conductive post and the conductive socket are detachably plugged into each other; or The first conductive connector includes a conductive socket, which is electrically connected to the power supply device. The second conductive connector includes a conductive post, which is detachably plugged into the conductive socket.

[0007] Preferably, the latch is located in the mounting groove, and the latch includes a sliding key, a clamping member and a spring-loaded member. The sliding key and the clamping member are slidably disposed on the robotic arm device, the spring-loaded member is driven to the sliding key, the sliding key has a guide surface, the clamping member slides against the guide surface, and the clamping member is detachably inserted into the latch. When the sliding key overcomes the elastic force of the spring-loaded component, the sliding key slides against the clamping component through the guide surface.

[0008] Preferably, the robotic arm device includes a support assembly and an arm assembly, the power supply device and the first conductive connector are respectively disposed on the support assembly, one of the buckle and the locking hole is disposed on the support assembly, and the other of the buckle and the locking hole is disposed in the mounting groove; The arm assembly is rotatably mounted on the support assembly, and the arm assembly is electrically connected to the power supply device.

[0009] Preferably, the support assembly includes a support base, a rotary motor, and a rotary gear structure; The power supply device and the first conductive connector are respectively disposed on the support base, and one of the buckle and the buckle hole is disposed on the support base. The rotary motor and the rotary gear structure are respectively mounted on the support base. The rotary motor is electrically connected to the power supply device. The rotary motor is driven by the rotary gear structure. The rotary gear structure is driven by the arm assembly. The arm assembly is rotatably mounted on the support base. The rotary motor drives the arm assembly to rotate through the rotary gear structure.

[0010] Preferably, the arm assembly includes a movable arm, a movable shaft, an actuator motor, an actuator gear structure, an actuator arm, an actuator shaft, and a functional actuator structure; The movable arm is rotatably mounted on the support base, the movable shaft is mounted on the movable arm, the movable shaft is inserted into the support base and driven to the rotary gear structure, the actuator motor and the actuator gear structure are respectively mounted on the movable arm, the actuator motor is electrically connected to the power supply device, the actuator motor is driven to the actuator gear structure, the actuator arm is rotatably mounted on the movable arm, the actuator shaft is mounted on the actuator arm, the actuator shaft is inserted into the movable arm and driven to the actuator gear structure, the functional execution structure is mounted on the actuator arm, and the functional execution structure is electrically connected to the power supply device; The actuator motor is used to drive the actuator shaft to rotate through the actuator gear structure when the power is on, thereby the actuator shaft drives the actuator arm to rotate relative to the movable arm.

[0011] Preferably, the functional execution structure includes a magazine, a barrel, two firing motors, and two friction wheels; The magazine and the two firing motors are respectively mounted on the execution arm. The two firing motors are electrically connected to the power supply device. The two firing motors are connected to the two friction wheels in a one-to-one correspondence. The barrel is mounted on the execution arm and is aligned with the magazine. The magazine is used to hold the projectile, the firing motor is used to drive the friction wheel to rotate, and the two friction wheels are used to jointly push the projectile into the barrel when rotating, so that the projectile is ejected along the barrel.

[0012] Preferably, the functional execution structure further includes a loading slide and a plurality of firing transmission gears, each of the firing transmission gears being rotatably mounted on the execution arm and meshing sequentially, the first end of the loading slide being slidably mounted on the execution arm, the second end of the loading slide being rotatably connected to one of the firing transmission gears, and the other firing transmission gear being drivenly connected to one of the firing motors; When the second end is driven to rotate by the firing transmission gear, the first end slides relative to the execution arm to hold the projectile in the magazine between the two friction wheels, so that the two friction wheels abut against the projectile from opposite sides.

[0013] Preferably, the fixing device includes a wearable component, a fixing component, and an electrical component. The fixing component is disposed on the wearable component, and the mounting groove and the limiting groove are both located on the fixing component. The electrical component is disposed on the wearable component or the fixing component, and the electrical component is electrically connected to the second conductive connector.

[0014] Preferably, the wearable component includes a back plate, connecting ears, and a cover plate. The back plate has interconnected clearance grooves and wire grooves. The connecting ears are disposed on the back plate and connected to the fixing component. The cover plate covers the clearance grooves and wire grooves. The electrical component includes a sensor disposed in the recessed groove, and a wire harness disposed on the sensor. The wire harness is located in the wire groove and is electrically connected to the second conductive connector.

[0015] The following are the beneficial effects of implementing this utility model: This utility model relates to a robotic arm in which a power supply device is installed on only one of the fixed device and the robotic arm itself. Through the arrangement of a power-conducting component, the fixed device and the robotic arm can automatically establish an electrical connection after assembly. Thus, a single power supply device can simultaneously power both the fixed device and the robotic arm via the power-conducting component. This avoids the problems of excessive cost and weight associated with multiple power supply devices, thereby reducing production costs and improving product portability.

[0016] Furthermore, in the robotic arm of this invention, by creating a mounting groove on the fixing device and further creating a limiting groove within the mounting groove, the robotic arm can be guided for assembly and disassembly via the mounting groove, while the limiting groove ensures reliable fixation between the fixing device and the robotic arm. Moreover, the robotic arm of this invention also utilizes a snap-fit ​​assembly, which provides more reliable limiting and fixation after assembly and allows for quick disassembly, improving the ease of assembly and disassembly. Attached Figure Description

[0017] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.

[0018] Figure 1 This is a schematic diagram of the structure of the robotic arm in some embodiments of this utility model; Figure 2 From another perspective Figure 1 The diagram shows the structure of the robotic arm. Figure 3 This is a schematic diagram of the internal structure of the robotic arm in some embodiments of this utility model; Figure 4 This is a schematic diagram of the disassembled structure of the robotic arm in some embodiments of this utility model; Figure 5 yes Figure 4 The enlarged view of the robotic arm at point A is shown. Figure 6 This is a partial structural schematic diagram of the robotic arm in some embodiments of this utility model; Figure 7 yes Figure 6 The enlarged view of the robotic arm at point B is shown. Figure 8 This is an exploded view of the robotic arm in some embodiments of this utility model; Figure 9 yes Figure 3 The enlarged view of the robotic arm at point C is shown. Figure 10 This is a schematic diagram of the buckle structure in some embodiments of this utility model; Figure 11 This is a partial structural schematic diagram of the support component in some embodiments of this utility model; Figure 12 This is an exploded view of a portion of the structure of the support component in some embodiments of this utility model; Figure 13 This is an exploded view of the arm assembly in some embodiments of this utility model; Figure 14 This is a schematic diagram of the functional execution structure in some embodiments of this utility model; Figure 15 From another perspective Figure 14 The diagram shows the structural diagram of the function execution structure. Figure 16 This is a partial structural schematic diagram of the fixing device in some other embodiments of this utility model. Detailed Implementation

[0019] Embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be more thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

[0020] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In the description of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0022] Unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] Figures 1 to 3 The diagram illustrates a robotic arm 10 according to some embodiments of the present invention. The robotic arm 10 includes a fixing device 1, a robotic arm device 2, a connecting device 3, and a power supply device 4. The robotic arm device 2 is detachably mounted on the fixing device 1. The connecting device 3 is used not only to connect the fixing device 1 and the robotic arm device 2, but also to conduct electricity between the fixing device 1 and the robotic arm device 2. The power supply device 4 is mounted on either the fixing device 1 or the robotic arm device 2.

[0024] Understandably, the fixing device 1 provides a mounting position for the robotic arm device 2. The robotic arm device 2 can be configured as various existing robotic arm structures capable of directional adjustment or similar structures. The connecting device 3 serves to define the relative position of the fixing device 1 and the robotic arm device 2, and also to electrically connect the fixing device 1 and the robotic arm device 2, allowing current to be transmitted between them. The power supply device 4 provides electrical energy.

[0025] like Figures 3 to 8 As shown, the fixing device 1 has an installation groove 121, and a limit groove 122 is provided in the installation groove 121.

[0026] The connecting device 3 includes a snap-fit ​​assembly 31 and a power-conducting assembly 32. The snap-fit ​​assembly 31 includes a snap-fit ​​311 and a snap-fit ​​hole 312. One of the snap-fit ​​311 and the snap-fit ​​hole 312 is disposed on the robotic arm device 2, and the other of the snap-fit ​​311 and the snap-fit ​​hole 312 is disposed in the mounting groove 121. The power-conducting assembly 32 includes a first conductive plug 321 and a second conductive plug 322. The first conductive plug 321 is disposed on the robotic arm device 2, and the second conductive plug 322 is disposed in the mounting groove 121.

[0027] The power supply device 4 is configured to be mounted on the robotic arm device 2 and electrically connected to the first conductive connector 321, or the power supply device 4 is configured to be mounted on the fixing device 1 and electrically connected to the second conductive connector 322.

[0028] When the robotic arm device 2 is detachably installed in the mounting groove 121, at least a portion of the robotic arm device 2 is inserted into the limiting groove 122, and the buckle 311 is movably locked into the buckle hole 312, and the first conductive plug 321 and the second conductive plug 322 are plugged in and connected.

[0029] Understandably, the mounting slot 121 provides an insertion guide path for the robotic arm device 2, constraining assembly freedom. The limiting slot 122 further limits the position of the robotic arm device 2, improving installation stability. The latch 311 has a reset capability and is used to be movably locked within the latch hole 312. The engagement between the latch hole 312 and the latch 311 allows for quick locking after the robotic arm device 2 is installed in place, and also allows for quick unlocking when needed. The insertion and engagement of the first conductive connector 321 and the second conductive connector 322 can be completed simultaneously with the mechanical locking of the fixing device 1 and the robotic arm device 2, eliminating the need for additional conductive connections and avoiding the risk of users operating with live electricity.

[0030] The power supply device 4 can be positioned in at least the following ways: First, the power supply device 4 is configured to be mounted on the robotic arm device 2. In this case, the power supply device 4 will supply power to the electrical components on the robotic arm device 2, and will also supply power to the electrical components on the fixed device 1 through the plug-in first conductive connector 321 and the second conductive connector 322. Second, the power supply device 4 is configured to be mounted on the fixed device 1. In this case, the power supply device 4 will supply power to the electrical components on the fixed device 1, and will also supply power to the electrical components on the robotic arm device 2 through the plug-in first conductive connector 321 and the second conductive connector 322.

[0031] Of course, regardless of the implementation method of the power supply device 4, when the first conductive connector 321 and the second conductive connector 322 are provided and configured to be plugged in, the power supply device 4 can simultaneously supply power to the electrical components on the fixed device 1 and the robotic arm device 2 through the provision of the first conductive connector 321 and the second conductive connector 322. This avoids the need for multiple power supply devices 4, reduces manufacturing costs, and improves the portability of the product.

[0032] It should be noted that the specific electrical components of the fixed device 1 and the robotic arm device 2 can be flexibly set, and the specific selection can be based on the functions that the product needs to achieve. For example, the electrical components can be components for sensing applications, components for torque output, or components with multiple functions.

[0033] like Figures 4 to 7 As shown, in some embodiments of the present invention, the robotic arm 10 includes a first conductive connector 321, which is electrically connected to a power supply device 4. The second conductive connector 322 includes a conductive socket 3221, and the conductive connector 3211 and the conductive socket 3221 are detachably connected and engaged.

[0034] Understandably, when the conductive pin 3211 is inserted into the conductive socket 3221, a physical contact interface is established between the two, transferring electrical energy from the power supply device 4 between the conductive socket 3221 and the conductive pin 3211. The conductive socket 3221 provides a cavity or groove that mates with the conductive pin 3211, and engages with the conductive pin 3211 via an internal metal spring or other existing structures capable of maintaining insertion pressure and electrical conductivity.

[0035] It should be noted that by connecting the conductive pin 3211 and the conductive socket 3221 in this embodiment, the electrical connection can be quickly switched on and off, and the circuit can be automatically cut off when disconnected, thus avoiding the risk of disassembly and assembly while the circuit is energized.

[0036] In some other embodiments of the robotic arm 10 of this utility model, the first conductive connector 321 includes a conductive socket 3221, which is electrically connected to the power supply device 4, and the second conductive connector 322 includes a conductive post 3211, which is detachably connected to the conductive socket 3221.

[0037] Understandably, the functions and roles of the conductive socket 3221 and the conductive pin 3211 in this embodiment are similar to those in the previous embodiments, and will not be repeated here. The specific difference lies in the different positions of the conductive socket 3221 and the conductive pin 3211 compared to the previous embodiments. The specific implementation method should be adjusted or selected based on actual design and application requirements.

[0038] like Figure 4 , Figure 9 and Figure 10 As shown, in some embodiments of the present invention, the robotic arm 10 has a locking hole 312 located in the mounting groove 121. The buckle 311 includes a sliding key 3111, a clamping member 3112, and a spring retainer 3113. The sliding key 3111 and the clamping member 3112 are slidably disposed on the robotic arm device 2. The spring retainer 3113 is drivenly connected to the sliding key 3111. The sliding key 3111 has a guide surface 3114. The clamping member 3112 slides against the guide surface 3114. The clamping member 3112 is detachably inserted into the locking hole 312.

[0039] When the sliding key 3111 slides against the elastic force of the spring-loaded component 3113, the sliding key 3111 slides against the clamping component 3112 through the guide surface 3114.

[0040] Understandably, the sliding key 3111 is used to convert the linear sliding operation applied by the user into an oblique pushing force of the guide surface 3114. The locking member 3112 is driven radially by the guide surface 3114 to achieve locking or disengagement with the locking hole 312. The spring-loaded member 3113 automatically resets the locking member 3112 to the locked position after the sliding key 3111 is released, providing a continuous locking force. The guide surface 3114 is used to convert the displacement of the sliding key 3111 into the displacement of the locking member 3112 in another direction.

[0041] It should be noted that at least a portion of the sliding key 3111 can be configured to be exposed on the outer surface of the robotic arm device 2, so that the exposed portion of the sliding key 3111 is available for user pressing operation.

[0042] like Figure 1 and Figure 3 As shown, in some embodiments of the present invention, the robotic arm 10 includes a support assembly 21 and an arm assembly 22. Please refer to the following: Figures 3 to 7 The power supply device 4 and the first conductive connector 321 are respectively disposed on the support assembly 21. One of the buckle 311 and the buckle hole 312 is disposed on the support assembly 21, and the other of the buckle 311 and the buckle hole 312 is disposed in the mounting groove 121. The arm assembly 22 is rotatably disposed on the support assembly 21 and is electrically connected to the power supply device 4.

[0043] Understandably, the support assembly 21 is used to support the power supply device 4 and the first conductive connector 321, and also to support the movement of the support arm assembly 22. It should be noted that the buckle and the locking hole can be positioned in at least two ways: First, the buckle is located on the support assembly 21, and the locking hole is located within the mounting groove 121. Second, the buckle is located within the mounting groove 121, and the locking hole is located on the support assembly 21.

[0044] like Figure 4 , Figure 6 and Figure 8 As shown, in some embodiments of the present invention, the support component 21 of the robotic arm 10 includes a support base 211, a rotary motor 212, and a rotary gear structure 213.

[0045] The power supply device 4 and the first conductive plug 321 are respectively disposed on the support base 211. One of the two, the buckle 311 and the buckle hole 312, is disposed on the support base 211. The power supply device 4 and the first conductive plug 321 are respectively disposed on the support base 211.

[0046] The rotary motor 212 and the rotary gear structure 213 are respectively mounted on the support base 211. The rotary motor 212 is electrically connected to the power supply device 4. The rotary motor 212 is driven by the rotary gear structure 213. The rotary gear structure 213 is driven by the arm assembly 22. The arm assembly 22 is rotatably mounted on the support base 211. The rotary motor 212 drives the arm assembly 22 to rotate through the rotary gear structure 213.

[0047] Understandably, the support 211 provides a mounting position for the rotary motor 212 and the rotary gear structure 213. The rotary motor 212 converts the electrical energy from the power supply device 4 into rotational power, outputting precise angular displacement. The rotary gear structure 213 transmits the rotational motion of the motor to the arm assembly 22, thereby enabling the arm assembly 22 to rotate.

[0048] It should be noted that you should refer to [link / reference]. Figure 11 The rotary gear structure 213 can be configured to include multiple rotary gears 2131, which mesh sequentially. One rotary gear is driven and connected to the rotary motor 212, and another rotary gear 2131 has a drive hole 2132. Furthermore, the arm assembly 22 is inserted into the drive hole 2132 via a shaft. When the rotary gear with the drive hole rotates, it drives the shaft to rotate, further causing the arm assembly 22 to rotate relative to the support base 211.

[0049] like Figure 12 As shown, in some embodiments of the present invention, the robotic arm 10 includes an arm assembly 22, a movable arm 221, a movable shaft 222, an actuator motor 223, an actuator gear structure 224, an actuator arm 225, an actuator shaft 226, and a functional actuator structure 227.

[0050] The movable arm 221 is rotatably mounted on the support base 211. The movable shaft 222 is mounted on the movable arm 221. The movable shaft 222 is inserted into the support base 211 and driven to the rotary gear structure 213. The actuator motor 223 and the actuator gear structure 224 are respectively mounted on the movable arm 221. The actuator motor 223 is electrically connected to the power supply device 4 and driven to the actuator gear structure 224. The actuator arm 225 is rotatably mounted on the movable arm 221. The actuator shaft 226 is mounted on the actuator arm 225. The actuator shaft 226 is inserted into the movable arm 221 and driven to the actuator gear structure 224. The functional actuator structure 227 is mounted on the actuator arm 225 and is electrically connected to the power supply device 4.

[0051] The actuator 223 is used to drive the actuator shaft 226 to rotate through the actuator gear structure 224 when it is powered on, so that the actuator shaft 226 drives the actuator arm 225 to rotate relative to the movable arm 221.

[0052] Understandably, the movable arm 221 is used to fix the movable shaft 222, and also to install the actuator motor 223 and the actuator gear structure 224. The movable arm 221 also serves to support the movement of the actuator arm 225. The movable shaft 222 is inserted into the support base 211 and then into the rotary gear structure 213, so that the corresponding rotary gear 2131 can drive the movable shaft 222 to rotate when it rotates, thereby driving the movable arm 221 to rotate.

[0053] The actuator motor 223 receives electrical energy from the power supply unit 4, providing an independent rotational power source for the actuator arm 225. The actuator gear structure 224 further transmits the torque output by the actuator motor 223 to the actuator arm 225. The rotational configuration of the actuator arm 225 allows the product to add pitch freedom to the movable arm 221. The actuator shaft 226 is used to insert the movable arm 221, thereby establishing the rotational fulcrum of the actuator arm 225. The functional actuator structure 227, as an end effector, directly performs tasks such as grasping, processing, launching, or various toy actuator tasks in the existing toy field, specifically adjusted according to the actual design and usage requirements of the product.

[0054] It should be noted that the actuating gear structure 224 includes multiple actuating gears 2241, each of which is rotatably mounted on the movable arm 221 and meshes sequentially. One of the actuating gears 2241 is connected to the actuating motor 223, while another actuating gear 2241 has an actuation transmission hole 2242 into which the actuating shaft 226 is inserted. Thus, when the actuating motor 223 is energized, torque is transmitted to each actuating gear 2241, driving the actuating shaft 226 to rotate, which in turn drives the actuating arm 225 to rotate.

[0055] like Figures 13 to 15 As shown, in some embodiments of the present invention, the robotic arm 10 includes a functional execution structure 227 comprising a magazine 2271, a barrel 2272, two firing motors 2273, and two friction wheels 2274. The magazine 2271 and two firing motors 2273 are respectively mounted on the execution arm 225. Both firing motors 2273 are electrically connected to the power supply device 4. The two firing motors 2273 are connected to the two friction wheels 2274 in a one-to-one driving connection. The barrel 2272 is mounted on the execution arm 225 and is aligned with the magazine 2271. The magazine 2271 is used to hold the projectile, the firing motor 2273 is used to drive the friction wheel 2274 to rotate, and the two friction wheels 2274 are used to jointly support the projectile and shoot it into the barrel 2272 when rotating, so that the projectile is shot out along the barrel 2272.

[0056] Understandably, the magazine 2271 stores the projectile to be launched, and automatic feeding is achieved through other mechanical pushing mechanisms, that is, the projectile in the magazine 2271 is pushed to the predetermined position for firing via a mechanical structure. The barrel 2272 is cylindrical and open at both ends. One end of the barrel 2272 is into which the projectile is fired, and then the cylindrical structure of the barrel 2272 guides the projectile to move in a predetermined direction. The other end of the barrel 2272 is for the projectile to be ejected. The firing motor 2273 is used to convert the electrical energy of the power supply device 4 into torque. The two firing motors 2273 each control the rotation of a friction wheel 2274. The two friction wheels 2274 symmetrically clamp the projectile, and the two friction wheels 2274 rotate in different directions, so that the two friction wheels 2274 can drive the projectile to move when rotating, giving the projectile a certain speed.

[0057] It should be noted that, through the content of this type of embodiment, the movement of the robotic arm can achieve the adjustment of the launch angle in two directions, thereby improving the flexibility of the launch angle.

[0058] like Figures 13 to 15 As shown, in some embodiments of the present invention, the robotic arm 10 includes a functional execution structure 227 that further includes a loading slide 2275 and several firing transmission gears 2276. Each firing transmission gear 2276 is rotatably mounted on the execution arm 225 and meshes sequentially. The first end of the loading slide 2275 is slidably mounted on the execution arm 225, and the second end of the loading slide 2275 is rotatably connected to one of the firing transmission gears 2276. The other firing transmission gear 2276 is drivenly connected to one of the firing motors 2273. When the second end is driven to rotate by the firing transmission gear 2276, the first end slides relative to the execution arm 225 to hold the projectile in the magazine 2271 between the two friction wheels 2274, so that the two friction wheels 2274 abut against the projectile from opposite sides.

[0059] Understandably, the first end of the loading slide 2275 is slidably mounted on the actuator arm 225, providing linear motion guidance to ensure that the trajectory of the propellant is aligned with or parallel to the axis of the barrel 2272. The second end is rotatably connected to the firing transmission gear 2276, thus converting the rotational motion of the firing transmission gear 2276 into linear displacement of the first end, achieving a conversion of the form of mechanical energy transmission. The number of firing transmission gears 2276 and the transmission ratio between each pair can be flexibly set, specifically adjusted according to the product design and usage requirements.

[0060] If one of the launch drive gears 2276 is driven by the launch motor 2273, then the launch drive gear 2276 can receive the power of the launch motor 2273 and transmit it to the other launch drive gears 2276 that mesh subsequently.

[0061] It should be noted that the direct support of the loading slider 2275 on the projectile can avoid the problem of the projectile getting stuck and improve the success rate of loading and firing.

[0062] One of the transmitting motors 2273 drives both the friction wheel 2274 and the transmitting gear, and the torque output by the transmitting motor 2273 is simultaneously transmitted to both the friction wheel and the transmitting gear. Specifically, the transmitting motor 2273 can be configured as a dual-output motor, or a drive shaft can be installed at the output end of the transmitting motor 2273. The friction wheel and one of the transmitting gears 2276 are respectively mounted on different positions on the drive shaft, so that when the drive shaft rotates, it can simultaneously drive the transmitting gear 2276 and the friction wheel to rotate.

[0063] like Figure 16 As shown, in some embodiments of the present invention, the robotic arm 10 includes a body-wearing component 11, a fixing component 12, and an electrical component 13. The fixing component 12 is disposed on the body-wearing component 11, and the mounting groove 121 and the limiting groove 122 are both located on the fixing component 12. The electrical component 13 is disposed on the body-wearing component 11 or the fixing component 12, and the electrical component 13 is electrically connected to the second conductive connector 322.

[0064] Understandably, the wearable component 11 is used to wear or attach the product to a person, thereby fixing or installing the product in a predetermined position on the person. The fixing component 12 is used to provide a corresponding mounting position for the robotic arm device 2, so that the robotic arm device 2 can obtain a stable and reliable mounting position relative to the person. The power supply component 13 can be configured as various structures or components that require electrical power in the prior art, and can be adjusted according to the functional design of the product and usage requirements.

[0065] It should be noted that the power supply component 13 can be installed on either the wearable component 11 or the fixed component 12. The power supply component 13 can also include multiple parts, one of which is installed on the wearable component 11 and the rest are installed on the fixed component 12.

[0066] In some embodiments where the power supply device 4 is located on the robotic arm device 2, the power supply device 4 can be further configured to be located on the fixed component 12 or the wearable component 11. In this way, the power supply device 4 can be directly electrically connected to the power-consuming component 13, so that the power supply device 4 will supply power to the power-consuming components on the robotic arm device 2 through the power-conducting component 32.

[0067] like Figure 16 As shown, in some embodiments of the present invention, the robotic arm 10 includes a wearable component 11, a back plate 111, a connecting ear 112, and a cover plate 113. The back plate 111 has a mutually communicating clearance groove 1111 and a wire groove 1112. The connecting ear 112 is disposed on the back plate 111 and is connected to the fixing component 12. The cover plate 113 covers the clearance groove 1111 and the wire groove 1112. The electrical component 13 includes a sensor 131, which is disposed in a recessed groove 1111. A wire harness is disposed on the sensor 131, which is located in a wire groove 1112 and is electrically connected to a second conductive connector 322.

[0068] Understandably, the outline of the backplate 111 can be flexibly set. Furthermore, the outline of the backplate 111 can be configured to fit the human back, thereby improving the wearing comfort and stability of the product. The clearance groove 1111 is used to accommodate the sensor 131 and limit its displacement, preventing sensor failure due to pressure from human movement, and also protecting the sensor 131. The connecting ear 112 is used to connect the backplate 111 to the fixing component 12. The cover plate 113 is used to shield the clearance groove 1111 and the wire groove 1112, providing protection. The sensor 131 can be configured as a gyroscope or other components capable of attitude monitoring, thereby controlling the movement of the robotic arm according to the attitude sensing. This utility model does not elaborate on this control method, but by adopting the scheme of this embodiment, the product can automatically adjust the angle of the attitude monitoring signal transmission.

[0069] Furthermore, straps or other structural components that are fixed to a person can be provided on the back plate 111, so that it can be fixed to a person by wearing. Specifically, a vest structure for wearing can be provided on the back plate 111, which is worn by the user, thereby defining the relative position between the back plate 111 and the person, and further defining the relative position between the robotic arm device 2 and the person.

[0070] like Figure 3 and Figure 4 As shown, in some embodiments, the power supply device 4 may be configured to include a battery 41. The battery 41 supplies power to the electrical components of the product. Furthermore, the power supply device 4 may also be configured to include a plug 42, which is electrically connected to the battery 41. Thus, the battery 41 can be charged via the plug 42.

[0071] The following are the beneficial effects of implementing this utility model: This utility model relates to a robotic arm in which a power supply device is installed on only one of the fixed device and the robotic arm itself. Through the arrangement of a power-conducting component, the fixed device and the robotic arm can automatically establish an electrical connection after assembly. Thus, a single power supply device can simultaneously power both the fixed device and the robotic arm via the power-conducting component. This avoids the problems of excessive cost and weight associated with multiple power supply devices, thereby reducing production costs and improving product portability.

[0072] Furthermore, in the robotic arm of this invention, by creating a mounting groove on the fixing device and further creating a limiting groove within the mounting groove, the robotic arm can be guided for assembly and disassembly via the mounting groove, while the limiting groove ensures reliable fixation between the fixing device and the robotic arm. Moreover, the robotic arm of this invention also utilizes a snap-fit ​​assembly, which provides more reliable limiting and fixation after assembly and allows for quick disassembly, improving the ease of assembly and disassembly.

[0073] The present invention has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of each embodiment have different focuses; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. Those skilled in the art should also understand that the actions and modules involved in the specification are not necessarily essential to the present invention. Furthermore, it is understood that the steps in the method of the present invention embodiments can be adjusted, combined, and deleted according to actual needs, and the modules in the device of the present invention embodiments can be combined, divided, and deleted according to actual needs.

[0074] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robot arm, characterized in that, include: The fixing device has an installation groove, and a limit groove is provided in the installation groove; robotic arm device; A connecting device includes a snap-fit ​​assembly and a power-conducting assembly. The snap-fit ​​assembly includes a snap and a snap hole. One of the snap and the snap hole is disposed on the robotic arm device, and the other of the snap and the snap hole is disposed in the mounting groove. The power-conducting assembly includes a first conductive plug and a second conductive plug. The first conductive plug is disposed on the robotic arm device, and the second conductive plug is disposed in the mounting groove. and A power supply device, wherein the power supply device is disposed on the robotic arm device and electrically connected to the first conductive connector, or the power supply device is disposed on the fixing device and electrically connected to the second conductive connector; When the robotic arm device is detachably installed in the mounting groove, at least a portion of the robotic arm device is inserted into the limiting groove, the buckle is movably locked in the buckle hole, and the first conductive connector and the second conductive connector are plugged in and connected.

2. The robot arm of claim 1, wherein, The first conductive connector includes a conductive post electrically connected to the power supply device; the second conductive connector includes a conductive socket, and the conductive post and the conductive socket are detachably plugged into each other. The first conductive connector includes a conductive socket, which is electrically connected to the power supply device. The second conductive connector includes a conductive post, which is detachably plugged into the conductive socket.

3. The robotic arm of claim 1, wherein, The card hole is located in the mounting groove. The buckle includes a sliding key, a clamping member and a spring-loaded member. The sliding key and the clamping member are slidably disposed on the robotic arm device. The spring-loaded member is driven to the sliding key. A guide surface is provided on the sliding key. The clamping member slides against the guide surface. The clamping member is detachably inserted into the card hole. When the sliding key overcomes the elastic force of the spring-loaded component, the sliding key slides against the clamping component through the guide surface.

4. The robot arm according to any one of claims 1 to 3, characterized in that, The robotic arm device includes a support assembly and an arm assembly. The power supply device and the first conductive connector are respectively disposed on the support assembly. One of the buckle and the locking hole is disposed on the support assembly, and the other of the buckle and the locking hole is disposed in the mounting groove. The arm assembly is rotatably mounted on the support assembly, and the arm assembly is electrically connected to the power supply device.

5. The robot arm of claim 4, wherein, The support assembly includes a support base, a rotary motor, and a rotary gear structure; One of the buckle and the slot is provided on the support base, and the power supply device and the first conductive connector are respectively provided on the support base; The rotary motor and the rotary gear structure are respectively mounted on the support base. The rotary motor is electrically connected to the power supply device. The rotary motor is driven by the rotary gear structure. The rotary gear structure is driven by the arm assembly. The arm assembly is rotatably mounted on the support base. The rotary motor drives the arm assembly to rotate through the rotary gear structure.

6. The robot arm of claim 5, wherein, The arm assembly includes a movable arm, a movable shaft, an actuator motor, an actuator gear structure, an actuator arm, an actuator shaft, and a functional actuator structure; The movable arm is rotatably mounted on the support base, the movable shaft is mounted on the movable arm, the movable shaft is inserted into the support base and driven to the rotary gear structure, the actuator motor and the actuator gear structure are respectively mounted on the movable arm, the actuator motor is electrically connected to the power supply device, the actuator motor is driven to the actuator gear structure, the actuator arm is rotatably mounted on the movable arm, the actuator shaft is mounted on the actuator arm, the actuator shaft is inserted into the movable arm and driven to the actuator gear structure, the functional execution structure is mounted on the actuator arm, and the functional execution structure is electrically connected to the power supply device; The actuator motor is used to drive the actuator shaft to rotate through the actuator gear structure when the power is on, thereby the actuator shaft drives the actuator arm to rotate relative to the movable arm.

7. The robot arm of claim 6, wherein, The functional execution structure includes a magazine, a barrel, two firing motors, and two friction wheels; The magazine and the two firing motors are respectively mounted on the execution arm. The two firing motors are electrically connected to the power supply device. The two firing motors are connected to the two friction wheels in a one-to-one correspondence. The barrel is mounted on the execution arm and is aligned with the magazine. The magazine is used to hold the projectile, the firing motor is used to drive the friction wheel to rotate, and the two friction wheels are used to jointly push the projectile into the barrel when rotating, so that the projectile is ejected along the barrel.

8. The robotic arm of claim 7, wherein, The functional execution structure also includes a loading slide and a plurality of firing transmission gears. Each of the firing transmission gears is rotatably mounted on the execution arm and meshes with the firing transmission gears in sequence. The first end of the loading slide is slidably mounted on the execution arm, and the second end of the loading slide is rotatably connected to one of the firing transmission gears. The other firing transmission gear is driven by one of the firing motors. When the second end is driven to rotate by the firing transmission gear, the first end slides relative to the execution arm to hold the projectile in the magazine between the two friction wheels, so that the two friction wheels abut against the projectile from opposite sides.

9. The robotic arm of claim 1, wherein, The fixing device includes a wearable component, a fixing component, and a power supply component. The fixing component is disposed on the wearable component, and the mounting groove and the limiting groove are both located on the fixing component. The power supply component is disposed on the wearable component or the fixing component, and the power supply component is electrically connected to the second conductive connector.

10. The robotic arm of claim 9, wherein, The wearable component includes a back plate, connecting ears, and a cover plate. The back plate has interconnected clearance grooves and wire grooves. The connecting ears are disposed on the back plate and connected to the fixing component. The cover plate covers the clearance grooves and wire grooves. The power utilization assembly comprises an inductor arranged in the avoiding slot, a wire harness is arranged on the inductor, the wire harness is located in the wire slot, and the wire harness is electrically connected to the second conductive plug.

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