CN111482953A - Multi-configuration modular mechanical arm based on high-integration low-cost joint - Google Patents
Multi-configuration modular mechanical arm based on high-integration low-cost joint Download PDFInfo
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- CN111482953A CN111482953A CN202010307129.2A CN202010307129A CN111482953A CN 111482953 A CN111482953 A CN 111482953A CN 202010307129 A CN202010307129 A CN 202010307129A CN 111482953 A CN111482953 A CN 111482953A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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Abstract
The invention discloses a multi-configuration modular mechanical arm based on high-integration low-cost joints, which belongs to the technical field of mechanical arms and comprises a base joint, a plurality of rotary joints and a plurality of flange components, wherein the rotary joints and the flange components are sequentially connected; the base joint is connected with the first rotary joint in the plurality of rotary joints through the flange assembly, and the adjacent rotary joints are also connected through the flange assembly; the flange assembly comprises a first flange piece and a second flange piece which are matched and connected with each other; the base pipe joint is electrically connected with the plurality of rotary joints in sequence. According to the invention, the connection between the rotary joint and between the rotary joint and the base joint is realized through the butt joint of the first flange piece and the second flange piece, so that the quick disassembly and assembly can be realized, and the market demand can be met.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a multi-configuration modular mechanical arm based on high-integration low-cost joints.
Background
The robot arm is an automatic control device which simulates the functions of a human arm and can complete various tasks, has intelligent capabilities similar to those of the human arm, such as perception capability, planning capability, action capability and coordination capability, and is an automatic robot with high flexibility. In the existing mechanical arm, due to the mechanical and electrical limitations, the mechanical arm used in the industry or other fields is a whole machine, and each joint cannot be detached after being processed and delivered. Meanwhile, the composition structure, the working space and the tail end load of each mechanical arm are fixed when leaving a factory, and cannot be flexibly changed. The integral mechanical arm has the advantages of high precision and stability. The defects of the device are that the device can not adapt to different work tasks, can not be flexibly disassembled and carried, and is difficult to repair internal parts after being damaged.
Thus, modular robot arms have been developed with joints that can be removed, replaced and maintained while ensuring a mechanically and electrically reliable connection between the joints, as known under the name CN207402804U for a modular six-axis robot arm.
However, in the existing mechanical arm, the disassembly structure is complex, and the requirement of quick disassembly and assembly cannot be met.
Disclosure of Invention
In order to overcome the defects of the prior art, the technical problem to be solved by the invention is to provide a multi-configuration modular mechanical arm based on high-integration low-cost joints, which can be quickly disassembled and assembled.
In order to achieve the purpose, the invention adopts the following technical scheme:
The invention provides a multi-configuration modular mechanical arm based on high-integration low-cost joints, which comprises a base joint, a plurality of rotary joints and a plurality of flange components, wherein the rotary joints and the flange components are sequentially connected; the base joint is connected with the first rotary joint in the plurality of rotary joints through the flange assembly, and the adjacent rotary joints are also connected through the flange assembly; the flange assembly comprises a first flange piece and a second flange piece which are matched and connected with each other; in a flange assembly between a base joint and a first rotary joint, a first flange part is connected with the output end of a base motor in the base joint, and a second flange part is fixedly connected with the rotary joint; in the flange assembly between the adjacent rotary joints, a first flange part is connected with the output end of a rotary motor in one rotary joint, and a second flange part is fixedly connected with the other rotary joint; the base joint is electrically connected with the plurality of rotary joints in sequence.
Advantageously or exemplarily, the opposite end faces of the first and second flange elements are provided as interface end faces, and electrical connectors are arranged on the interface end faces, and the electrical connection of the base joint and the plurality of rotary joints is completed through the butting of the electrical connectors.
Beneficially or exemplarily, planetary gear speed reducers are arranged in the base joint and the rotary joint, and the base motor and the rotary motor are both connected with the corresponding first flange pieces through the planetary gear speed reducers.
Beneficially or exemplarily, the other end faces of the first flange part and the second flange part opposite to the interface end face are set as fixed end faces, the first flange part or the second flange part is connected to a corresponding base joint or a corresponding rotary joint through the fixed end faces, a lead and a conductive slip ring are arranged in the base joint and the rotary joint, the lead comprises a rotary part and a static part, and in the base joint and the rotary joint, the fixed end face of the first flange part is connected with one end of the rotary part, and the one end of the first flange part is electrically connected with an electric connector on the interface end face of the first flange part; the other end of the rotating part is electrically connected with one end of the static part through a conductive slip ring, and the other end of the static part is sequentially electrically connected with a base motor and a power supply in the base joint; in the rotary joint, the other end of the static part is electrically connected with the rotary motor and an electric connector on the second flange piece in sequence.
Beneficially or exemplarily, the first block and the second block which protrude from the interface end face are respectively and annularly distributed on the interface end faces of the second flange piece and the first flange piece, and the first block and the second block are mutually staggered; the first block and the second block are circular arc blocks, threads are arranged on the outer sides of the first block and the second block, and circular nuts are respectively in threaded fit with the threads.
Advantageously or exemplarily, the device further comprises a connecting arm, wherein the connecting position between the joints and/or the connecting position between the joints and the base is provided with the connecting arm; and a first flange part and a second flange part are fixedly arranged on two sides of the connecting arm respectively.
Advantageously or exemplarily, a cavity is formed in the connecting arm, the first flange part and the second flange part are respectively arranged at two sides of the cavity, a lead is arranged in the cavity, and two ends of the lead are respectively connected with the electric connectors on the first flange part and the second flange part at two sides of the cavity.
Advantageously or exemplarily, an oil seal structure is arranged between the base motor and the rotary motor and the corresponding first flange pieces, and the oil seal structure is used for preventing external dust from entering the base or the joint; and sealing rings are arranged between the base motor and the rotating motor and between the base motor and the corresponding planetary gear reducer.
Advantageously or exemplarily, the base joint and the housing of the rotary joint are both made of ABS plastic.
The invention has the beneficial effects that:
According to the invention, the connection between the rotary joint and between the rotary joint and the base joint is realized through the butt joint of the first flange piece and the second flange piece, so that the quick disassembly and assembly can be realized, and the market demand can be met.
Drawings
FIG. 1 is an overall block diagram of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 2 is a first flange member configuration view of a multi-configuration modular robotic arm in accordance with one embodiment of the present invention;
FIG. 3 is a second flange member configuration view of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 4 is an elevation view of a joint of a multi-configuration modular robotic arm according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a joint of a multi-configuration modular robotic arm according to one embodiment of the present invention;
FIG. 6 is a top view of a base of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 7 is a cross-sectional view of a base of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 8 is a top view of a connecting arm of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a linking arm of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 10 is a schematic view of a conductive slip ring of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 11 is a schematic diagram of the wire connections of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 12 is a flange member configuration view of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 13 is a flange member configuration view of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 14 is another view of the flange member of FIG. 12 of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
FIG. 15 is another view of the flange member of FIG. 13 of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention;
Fig. 16 is another view of the flange member of fig. 2 of a multi-configuration modular robotic arm in accordance with an embodiment of the present invention.
In the figure:
10-a base joint; 11-a base motor; 20-a rotary joint; 21-a rotating electrical machine; 30-a first flange member; 31-a first block; 32-first round nut; 40-a second flange member; 41-second block; 42-second round nut; 50-a wire; 51-a rotating part; 52-stationary part; 60-an electrical connector; 70-a conductive slip ring; 80-a linker arm; 81-a cavity; 90-oil seal structure.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1-11, the multi-configuration modular mechanical arm based on high-integration low-cost joints comprises a base joint 10, a plurality of rotary joints 20 and a plurality of flange assemblies which are connected in sequence; the base joint 10 is connected with the first rotary joint 20 of the plurality of rotary joints 20 through the flange component, and the adjacent rotary joints 20 are also connected through the flange component; wherein the flange assembly comprises a first flange member 30 and a second flange member 40 which are matched and connected with each other; in the flange assembly between the base joint 10 and the first rotary joint 20, a first flange piece 30 is connected with the output end of a base motor 11 in the base joint 10, and a second flange piece 40 is fixedly connected with the rotary joint 20; in the flange assembly between the adjacent rotary joints 20, a first flange piece 30 is connected with the output end of the rotary motor 21 in one rotary joint 20, and a second flange piece 40 is fixedly connected with the other rotary joint 20; the base joint 10 is electrically connected to the plurality of rotary joints 20 in sequence.
The rotary joint may be divided into a waist joint, a shoulder joint, an elbow joint, a wrist joint, and the like according to the installation position, and the rotary joint 20 is a shoulder joint as shown in fig. 1. The first flange part 30 is connected with the corresponding output end through a spigot bolt, and the corresponding joint of the second flange part is connected through a spigot bolt.
When the rotary joint is used, the number of the rotary joints 20 is determined according to actual use requirements, after the first rotary joint 20 is connected to the base joint 10 through the flange assembly, the other rotary joints 20 are sequentially connected to the rotary joint 20.
When the rotation is required, the base motor 11 controls the first flange 30 on the base joint 10 to rotate, and further drives the first rotary joint 20 to rotate, and the rotary motor 21 in the rotary joint 20 drives the first flange 30 connected to the rotary joint 20, and further drives the other rotary joint 20 to rotate.
In this embodiment, the connection between the rotary joint 20 and the rotary joint 20, and the connection between the rotary joint 20 and the base joint 10 are realized by the butt joint of the first flange member 30 and the second flange member 40, and the disassembly can be realized by disassembling the connection between the first flange member 30 and the second flange member 40. The modularization arm of this embodiment can realize dismantling fast, install, satisfies the demand in market.
In one embodiment, the opposite end surfaces of the first flange member 30 and the second flange member 40 are interface end surfaces, the interface end surfaces are provided with electrical connectors 60, and the electrical connection between the base joint 10 and the plurality of rotary joints 20 is completed through the butting of the electrical connectors 60.
Specifically, the electrical connector 60 is connected in a pin manner, which is stable, so as to ensure reliable connection between electrical hardware.
In one embodiment, planetary gear reducers are disposed in the base joint 10 and the rotary joint 20, and the base motor 11 and the rotary motor 21 are connected to the corresponding first flange members 30 through the planetary gear reducers.
Conventionally, as for the koma eDO education robot arm, the driving motor adopts a harmonic gear reducer, and the cost of the motor is high, so that the overall cost of the robot arm is high, and the popularization and the application of the robot arm are not facilitated.
This application adopts the relatively lower planetary gear reducer of cost as driving motor, has reduced the cost of arm by a wide margin, facilitate promotion, popularization arm.
In one embodiment, the other end surface of the first flange member 30 and the second flange member 40 opposite to the interface end surface is a fixed end surface, the first flange member 30 or the second flange member 40 is connected to the corresponding base joint 10 or the corresponding rotary joint 20 through the fixed end surface, a lead 50 and a conductive slip ring 70 are arranged in the base joint 10 and the rotary joint 20, the lead 50 includes a rotary part 51 and a stationary part 52, the fixed end surface of the first flange member 30 is connected to one end of the rotary part 51 in the base joint 10 and the rotary joint 20, and the one end is electrically connected to the electrical connector 60 on the interface end surface of the first flange member 30; the other end of the rotating part 51 is electrically connected with one end of the static part 52 through a conductive slip ring 70, and the other end of the static part 52 is sequentially electrically connected with a base motor 11 and a power supply in the base joint 10; in the rotary joint 20, the other end of the stationary part 52 is electrically connected to the rotary electric machine 21 and the electric connector 60 of the second flange member 40.
Fig. 2 and 13 show different structures of the first flange member 30 to which the conductive slip ring 70 is to be mounted, and as shown, the first flange member 30 has a structure for mounting the conductive slip ring 70 on a fixed end surface thereof. The first flange member 30 to which the conductive slip ring 70 is to be mounted is mounted on the base joint 10 or the rotary joint 20.
When the rotary joint 20 rotates, the rotating part 51 rotates with the rotary joint 20, and the stationary part 52 remains stationary relative to the base 10 or the rotary joint 20.
Taking the example of the base joint 10 driving the first rotary joint 20 to rotate:
In a further embodiment, a lead 50 and a conductive slip ring 70 are arranged in the base joint 10 and the rotary joint 20, the lead 50 comprises a rotary part 51 and a static part 52, the other end surface of the first flange member 30 is connected with one end of the rotary part 51 in the base joint 10 or the rotary joint 20, and the rotary part 51 is electrically connected with the electric connector 60 of the first flange member 30; the other end of the rotating part 51 is electrically connected with one end of the static part 52 through a conductive slip ring 70, and the other end of the static part 52 is sequentially electrically connected with a base motor 11 and a power supply in the base joint 10; in the rotary joint 20, the other end of the stationary part 52 is electrically connected to the rotary electric machine 21 and the electric connector 60 of the second flange member 40.
In a conventional mechanical arm, when a harmonic gear reducer is adopted, because the harmonic gear reducer has a hollow shaft, routing is often performed through the hollow shaft. This is why the conventional option often only allows the use of a harmonic gear reducer as the drive motor for the robot arm.
In the present embodiment, the planetary gear reducer used has no hollow shaft structure, and therefore, the conductive slip ring 70 and other structures are provided to solve the problem of wiring, so that the planetary gear reducer can be applied to a robot arm. Meanwhile, the arrangement of the conductive slip ring 70 can increase the revolution range between the rotary joint 20 and the base joint 10 and between the adjacent rotary joints 20.
In the base joint 10 or one of the rotary joints 20, the lead wire 50 is divided by the conductive slip ring 70, one side of the conductive slip ring 70 is a static part 52, the static part 52 is static relative to the base joint 10 or the rotary joint 20, the other side of the conductive slip ring 70 is a rotary part 51, and the rotary part 51 rotates along with the first flange member 30 driven by the motor. Specifically, the following describes the routing in the robot arm in the present embodiment:
When the base joint 10 drives the first rotary joint 20 to rotate:
The base motor 11 is started, the first flange member 30 thereon rotates, the electric connector 60 rotates therewith, and one end of the rotating portion 51 rotates, and the other end of the rotating portion 51 rotates on the conductive slip ring 70 in the base joint 10. One end of the stationary part 52 is electrically connected to the rotating part 51 through the conductive slip ring 70, and remains stationary relative to the base motor 11 since the stationary part 52 does not participate in the rotation.
The electrical connector 60 of the first flange member 30 of the base joint 10 is connected to the electrical connector 60 of the second flange member 40 of a rotary joint 20. In the rotary joint 20 driven by the base joint 10, the electrical connector 60 of the second flange member 40 rotates, the stationary part 52 is stationary relative to the electrical connector 60 of the second flange member 40, one end of the stationary part 52 is connected to the electrical connector 60 of the second flange member 40, the other end is connected to the conductive slip ring 70, and is connected to the rotary part 51 through the conductive slip ring 70, and the rotary part 51 is connected to the electrical connector 60 of the first flange member 30.
When the rotary joint 20 drives the other rotary joint 20 to rotate:
The rotating part 51 in the rotary joint 20 rotates with the electric connector 60 on the first flange member 30, while the second flange member 40 of the other rotary joint 20 is driven to rotate, and the stationary part 52 remains relatively stationary with the second flange member 40 in the other rotary joint 20.
The rotating portion 51 and the stationary portion 52 are both relative to the corresponding base joint 10 or the rotating joint 20. Taking the base joint 10 as an example, the rotating portion 51 in the base joint 10 rotates relative to the base joint 10, and the stationary portion 52 in the base joint 10 is stationary relative to the base joint 10. Further, taking the rotary joint 20 as an example, the rotary part 51 in the rotary joint 20 rotates relative to the rotary joint 20, and the stationary part 52 in the rotary joint 20 is stationary relative to the rotary joint 20.
Therefore, the electrical connection problem of the rotating structure is solved, the wire 50 cannot be wound, the electrical connection is stable, the wire can rotate by 360 degrees, and the axial size is shortened as much as possible while the wire is prevented from being wound.
In the present embodiment, since the planetary gear reducer having no hollow shaft and a significantly reduced cost is used as the drive motor, the cost of the robot arm is reduced and the routing of the hollow shaft is not possible. Therefore, in order to solve the wiring problem, the embodiment provides the conductive slip ring 70, the conductive slip ring 70 is arranged in the corresponding base or joint, the conducting wire 50 is divided into the rotating part 51 and the static part 52, wherein the static part 52 is also electrically connected with the corresponding driving motor, the conductive slip ring 70 is innovatively combined with the planetary gear reducer and applied to the mechanical arm, the wiring problem of the mechanical arm driven by the planetary gear reducer is solved, the wiring effect of combining the hollow shaft harmonic gear reducer with the hollow motor can be achieved, meanwhile, the cost of the mechanical arm is greatly reduced, the popularization of the mechanical arm is facilitated, and the rotation range between two joints which generate relative rotation is improved.
In a further embodiment, the conductive slip ring 70 is fixed to the inner wall of the base joint 10 or the rotary joint 20.
In one embodiment, the first block 31 and the second block 32 protruding from the interface end surface are respectively and annularly distributed on the interface end surfaces of the second flange member 40 and the first flange member 30, and the first block 31 and the second block 32 are mutually staggered; the first block 31 and the second block 32 are arc blocks, and the outer sides of the first block 31 and the second block 32 are provided with threads which are respectively matched with a round nut.
The first flange piece 30 and the second flange piece 40 are butted through the engagement of the first block 31 and the second block 41, the connection is stable, and the disassembly is convenient.
Wherein, the outer side of the second block 41 is in threaded fit with the second round nut 42, and the outer side of the first block 31 is in threaded fit with the first round nut 32. The setting of round nut structure can further strengthen the joint strength of junction. When dismantling, after unscrewing two circle nuts respectively, but first flange spare 30 and second flange spare 40 manual separation, electric joint 60 contact pin connection separation realizes dismantling simultaneously.
In one embodiment, the device further comprises a connecting arm 80, and the connecting part between the rotating joints 20 and/or the connecting part between the rotating joints 20 and the base joint 10 is provided with the connecting arm 80; the connecting arm 80 is fixedly provided with a first flange member 30 and a second flange member 40 at two sides thereof, respectively.
The length of the connecting arm 80 is configured according to actual use, and the connecting arm 80 is connected with the rotary joint 20 or the base joint 10 through a flange component. Due to the arrangement of the connecting arm 80, the length of each joint of the mechanical arm can be flexibly adjusted, the applicability of the mechanical arm is improved, and the mechanical arm can be suitable for various application situations.
The flange structures fixedly arranged on the two sides of the connecting arm 80 can ensure that the two flange structures cannot rotate relatively, so that the rotating angle can be accurately transmitted to the next rotating part.
In one embodiment, a cavity 81 is formed in the connecting arm 80, the first flange member 30 and the second flange member 40 are disposed on two sides of the cavity 81, a conducting wire 50 is disposed in the cavity 81, and two ends of the conducting wire 50 are connected to the electrical connectors 60 on the first flange member 30 and the second flange member 40 on two sides of the cavity 81.
The cavity 81 is configured to facilitate routing within the connecting arm 80. Specifically, in the process of routing, two ends of the wire in the connecting arm 80 are respectively connected to the first flange part 30 and the second flange part 40 on two sides, and are electrically connected to the electrical connector 60 arranged on the flange structure, and since the first flange part 30 and the second flange part 40 in the connecting arm 80 do not rotate relatively, the wire in the connecting arm 80 is not wound.
One configuration of the first and second flange members 30, 40 employed in the connecting arm 80 is shown in fig. 12, without the need for a conductive slip ring 70 mounted thereto. Fig. 3 shows a second flange part applied to the rotary joint 20, as shown in fig. 3. Fig. 2 and 13 show a first flange part applied to the base joint 10 or the rotary joint 20, respectively, as shown in fig. 2 and 13.
In one embodiment, an oil seal structure 90 is disposed between the base motor 11 and the rotary motor 21 and the corresponding first flange member 30, and the oil seal structure 90 is used for preventing external dust from entering the base joint 10 or the rotary joint 20; and sealing rings are arranged between the base motor 11 and the rotating motor 21 and between the corresponding planetary gear reducers.
The oil seal structure 90 of this embodiment combines together with the sealing ring, forms two segmentation seal structures, prevents that external dust from causing the influence to structures such as conductive sliding ring 70, has strengthened environmental suitability, has guaranteed the whole life-span of arm.
Further, in base joint 10 and rotary joint 20, motor, reduction gear and seal structure are integrated as an organic whole, integrate highly, and the holistic performance is good.
Meanwhile, the base joint 10, the rotary joint 20 and the connecting arm 80 are provided with interfaces with uniform models, so that the connection is reliable and stable, and the connection between various joints with any model and the connecting arm can be realized, thereby achieving the purposes of variable mechanical arm configuration, variable freedom degree, variable load and variable working space.
In one embodiment, the housings of the base joint 10 and the rotary joint 20 are made of ABS plastic.
Further, the housings of the base joint 10, the rotary joint 20 and the connecting arm 80 are made of ABS plastic. In this embodiment, the housing made of ABS plastic has a light structure and sufficient strength.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The present invention is not to be limited by the specific embodiments disclosed herein, and other embodiments that fall within the scope of the claims of the present application are intended to be within the scope of the present invention.
Claims (9)
1. The multi-configuration modular mechanical arm based on the high-integration low-cost joint is characterized by comprising a base joint, a plurality of rotary joints and a plurality of flange components which are sequentially connected;
The base joint is connected with the first rotary joint in the plurality of rotary joints through the flange assembly, and the adjacent rotary joints are also connected through the flange assembly;
The flange assembly comprises a first flange piece and a second flange piece which are matched and connected with each other;
In a flange assembly between a base joint and a first rotary joint, a first flange part is connected with the output end of a base motor in the base joint, and a second flange part is fixedly connected with the rotary joint;
In the flange assembly between the adjacent rotary joints, a first flange part is connected with the output end of a rotary motor in one rotary joint, and a second flange part is fixedly connected with the other rotary joint;
The base joint is electrically connected with the plurality of rotary joints in sequence.
2. A multi-configuration modular robotic arm as claimed in claim 1 wherein opposing end faces of said first and second flange members are provided as interface end faces, said interface end faces being provided with electrical connectors thereon,
And the electrical connection of the base joint and the plurality of rotary joints is completed through the butt joint of the electrical connectors.
3. A multi-configuration modular robotic arm as claimed in claim 2, wherein planetary gear reducers are provided in the base joint and the rotary joint, and the base motor and the rotary motor are both connected to the corresponding first flange members through planetary gear reducers.
4. A multi-configuration modular robotic arm according to claim 3, wherein the other end face of said first and second flange members opposite to said interface end face is provided with a fixed end face, said first or second flange member being connected to the corresponding base joint or swivel joint through said fixed end face,
The base joint and the rotary joint are internally provided with a lead and a conductive slip ring, the lead comprises a rotary part and a static part,
In the base joint and the rotary joint, the fixed end surface of the first flange part is connected with one end of the rotary part, and the end is electrically connected with an electric connector on the interface end surface of the first flange part;
The other end of the rotating part is electrically connected with one end of the static part through a conductive slip ring, and the other end of the static part is sequentially electrically connected with a base motor and a power supply in the base joint; in the rotary joint, the other end of the static part is electrically connected with the rotary motor and an electric connector on the second flange piece in sequence.
5. The multi-configuration modular mechanical arm according to claim 1, wherein the interface end surfaces of the second flange piece and the first flange piece are respectively and annularly distributed with a first block and a second block which protrude from the interface end surface, and the first block and the second block are mutually staggered;
The first block and the second block are circular arc blocks, threads are arranged on the outer sides of the first block and the second block, and circular nuts are respectively in threaded fit with the threads.
6. The multi-configuration modular robotic arm of claim 1, further comprising a connecting arm, wherein the connecting point between said joints, and/or the connecting point between said joints and said base, is provided with said connecting arm;
And a first flange part and a second flange part are fixedly arranged on two sides of the connecting arm respectively.
7. A multi-configuration modular robotic arm as claimed in claim 6 wherein said connecting arm defines a cavity, said first and second flange members being disposed on opposite sides of said cavity, and a wire disposed within said cavity, said wire having ends connected to electrical connectors disposed on said first and second flange members on opposite sides of said cavity.
8. A multi-configuration modular robotic arm as claimed in claim 3 wherein an oil seal is provided between said base motor and said rotary motor and their respective first flange members, said oil seal being adapted to prevent external dust from entering said base or said joint; and sealing rings are arranged between the base motor and the rotating motor and between the base motor and the corresponding planetary gear reducer.
9. A multi-configuration modular robotic arm as claimed in any one of claims 1 to 8 wherein the outer shells of the base joint and the rotational joint are both made of ABS plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010307129.2A CN111482953A (en) | 2020-04-17 | 2020-04-17 | Multi-configuration modular mechanical arm based on high-integration low-cost joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010307129.2A CN111482953A (en) | 2020-04-17 | 2020-04-17 | Multi-configuration modular mechanical arm based on high-integration low-cost joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111482953A true CN111482953A (en) | 2020-08-04 |
Family
ID=71789476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010307129.2A Withdrawn CN111482953A (en) | 2020-04-17 | 2020-04-17 | Multi-configuration modular mechanical arm based on high-integration low-cost joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111482953A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405593A (en) * | 2020-11-06 | 2021-02-26 | 杭州萤石软件有限公司 | Modular joint for a robot |
-
2020
- 2020-04-17 CN CN202010307129.2A patent/CN111482953A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112405593A (en) * | 2020-11-06 | 2021-02-26 | 杭州萤石软件有限公司 | Modular joint for a robot |
| CN112405593B (en) * | 2020-11-06 | 2022-07-22 | 杭州萤石软件有限公司 | Modular joint for a robot |
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