CN108406755A - Mechanical arm device and extension mechanism - Google Patents

Abstract

The present application relates to a robotic arm device including a main mechanism and an extension mechanism. The main mechanism includes a first movable unit, a second movable unit and a third movable unit connected to each other, and the main mechanism can enable the robotic arm device to have three degrees of freedom. The main mechanism and the extension mechanism can enable the robotic arm device to have N+3 degrees of freedom, where N is a positive integer, and the extension mechanism is detachably connected to the main mechanism, and the extension mechanism includes N extended movable units, one of which is defined as a connecting component, which is detachably fixed to the connecting structure of the third movable unit, and the connecting component can rotate or move linearly relative to the main mechanism, and the connecting component can rotate or move linearly with the main mechanism.

Description

Mechanical arm device and extension mechanism

technical field

The invention relates to a mechanical device and an extension mechanism, in particular to a mechanical arm device and an extension mechanism installed on the mechanical arm device.

Background technique

General robotic arm devices have fixed degrees of freedom. For manufacturers, it is necessary to customize the production of robotic arms with different degrees of freedom. This will increase the overall production cost and control complexity. Therefore, how to effectively Manufacture of robotic arms with different degrees of freedom according to different customer needs has become one of the important problems faced by relevant manufacturers.

Contents of the invention

The main purpose of the present invention is to provide a mechanical arm device and an extension mechanism to solve the low production efficiency and the complexity of production management and control caused by the related manufacturers in the prior art in the face of the demand for mechanical arm devices with different degrees of freedom. high and high production costs.

In order to achieve the above object, the present invention provides a mechanical arm device, which includes a main mechanism and an extension mechanism. The main mechanism includes a first movable unit, a second movable unit and a third movable unit, the first movable unit, the second movable unit and the third movable unit are connected to each other, and the main mechanism can make the mechanical arm device have three Degree of freedom; wherein, the third movable unit has a connection structure. The extension mechanism, the main mechanism and the extension mechanism can enable the mechanical arm device to have more than N+3 degrees of freedom, where N is a positive integer. The extension mechanism is detachably connected to the main mechanism, and the extension mechanism includes. N extension movable units, one of which is defined as a connection component, the connection component is detachably fixed to the connection structure, the extension mechanism can rotate or move linearly relative to the main mechanism, and the extension mechanism can rotate or move linearly with the main mechanism .

Preferably, the extension mechanism includes an extension movable unit, and the extension movable unit is a connecting component, and the connecting component includes a connecting body, a driving member and a linking member, the connecting body has a fixed structure, and the connecting component can pass through the fixed structure Cooperate with the connecting structure, and detachably fix the third movable unit, the driving part is arranged on the connecting body, and the driving part can drive the linking part to move, the part of the linking part is exposed to the connecting body, and the linking part is used To link an external component or other extended movable units.

Preferably, the third movable unit includes a movable body, one end of the movable body has a connection structure, and the end of the movable body is concavely formed with an accommodating groove, and the driving parts exposed to the connecting body can be correspondingly accommodated in the accommodating groove.

Preferably, the extension mechanism includes an extension movable unit, the extension movable unit is a connection assembly, the connection assembly includes a connection body, a driving member, a linkage and an auxiliary connector, the connection body is connected with the auxiliary connector, and the auxiliary connector The connecting part is detachably fixed to the connecting structure. The connecting body is provided with a driving part and a linking part. The driving part can drive the linking part to move, and the linking part is used to link an external component.

Preferably, the connecting body is detachably fixed to the auxiliary connecting piece; one end of the connecting body and the auxiliary connecting piece fixed to each other can also be detachably fixed to the connecting structure.

Preferably, the first movable unit can rotate around a longitudinal axis, the second movable unit is connected with the first movable unit, and the second movable unit can move linearly along a longitudinal direction relative to the first movable unit; the third movable unit The unit is connected to the second movable unit, and the third movable unit can rotate relative to the second movable unit with another longitudinal axis as the center.

In order to achieve the above object, the present invention provides an extension mechanism, which includes N extension movable units, where N is a positive integer, wherein one extension movable unit is defined as a connecting component, and the N extending movable units are connected to each other, and the connecting component It is used to connect with a mechanical arm device with X degrees of freedom, so that the mechanical arm device has X+N degrees of freedom, and X is a positive integer.

Preferably, the connecting assembly includes a connecting body, a driving part and a linking part, the connecting body has a fixed structure, the fixed structure is detachably fixed to the mechanical arm device, the driving part is arranged on the connecting body, and the driving part The linkage can be driven to rotate, a part of the linkage is exposed to the connection body, and the linkage is used to link an external component.

Preferably, the extension mechanism includes an extension movable unit, the extension movable unit is a connection assembly, the connection assembly also includes an auxiliary connector, the connection assembly includes a connection body, a driving member and a linkage member, and the connection body and the auxiliary connector The auxiliary connecting piece is detachably fixed to the mechanical arm device. The connecting body is provided with a driving piece and a linking piece. The driving piece can drive the linking piece to move, and the linking piece is used to link an external component.

Preferably, the connecting body is detachably fixed to the auxiliary connecting piece, and one end of the connecting body that can be fixed to the auxiliary connecting piece can also be detachably fixed to the robot arm device.

The beneficial effect of the present invention can be that: relevant manufacturers can install extension mechanisms with different numbers of extension movable units on the main mechanism with three degrees of freedom according to the needs of customers for different degrees of freedom, so as to increase the overall mechanical arm The degree of freedom of the device, in this way, relevant manufacturers can quickly and effectively manufacture robotic arm devices with different degrees of freedom according to the needs of different customers. In addition, such a design can effectively reduce the management complexity of the mechanical arm devices with different degrees of freedom, and can also effectively reduce the overall production cost.

Description of drawings

FIG. 1 is a schematic diagram of a six-axis robotic arm in the prior art.

FIG. 2 is a schematic diagram of the configuration of the robot arm device of the present invention with six degrees of freedom.

FIG. 3 is an exploded schematic view of the mechanical arm device of the present invention with six degrees of freedom.

FIG. 4 is an exploded schematic view of the robot arm device of the present invention with four degrees of freedom.

FIG. 5 is a schematic diagram of the configuration of the robot arm device of the present invention with four degrees of freedom.

Detailed ways

first embodiment

Please refer to FIG. 2 and FIG. 3 together, which are the exploded and assembled diagrams of the first embodiment of the robot arm device of the present invention. As shown in the figure, the robot arm device 1 includes a main mechanism 10 and an extension mechanism 20 . The main mechanism 10 has three degrees of freedom, and the extension mechanism 20 is detachably assembled on the main mechanism 10 , and after the extension mechanism 20 is assembled on the main mechanism 10 , the degrees of freedom of the whole mechanical arm device 1 can be increased accordingly.

Furthermore, the main mechanism 10 includes a fixed seat 11 , a first movable unit 12 , a second movable unit 13 and a third movable unit 14 . The fixing base 11 is used for fixing on the environment ground. The first movable unit 12 is rotatably arranged on the fixed base 11; the second movable unit 13 is connected to the first movable unit 12 in a linearly movable manner, and the second movable unit 13 can move with the first movable unit 12 relative to the fixed base 11 Rotation; the third movable unit 14 is rotatably connected with the second movable unit 13, and the third movable unit 14 can move linearly with the second movable unit 13 relative to the first movable unit 12, and the third movable unit 14 can also follow the The first movable unit 12 rotates relative to the fixed base 11 . In this way, the first movable unit 12, the second movable unit 13 and the third movable unit 14 can make the robot arm device 1 have three degrees of freedom; of course, in practical applications, the first movable unit 12, the second movable unit 13 and the The relative movable relationship between the third movable unit 14 and the movable relationship with respect to the fixed seat 11 can be changed according to the demand, and is not limited here; in addition, the first movable unit 12, the second movable unit 13 and the third movable unit The appearance of the movable unit 14 can be changed according to requirements, and is not limited to what is shown in the figure.

In another embodiment, the first movable unit 12 may also be disposed on the fixed seat 11 in a linearly movable manner; the second movable unit 13 may also be rotatably connected with the first movable unit 12, and the second movable unit 13 can move linearly with the first movable unit 12 relative to the fixed seat 11; the third movable unit 14 can also be linearly movable connected with the second movable unit 13, and the third movable unit 14 can follow the second movable unit 13 Rotate relative to the first movable unit 12 , and the third movable unit 14 can move linearly with the first movable unit 12 relative to the fixed seat 11 .

In particular, the third movable unit 14 is provided with a connecting structure 15 away from the end connected to the second movable unit 13 (that is, the end of the third movable unit 14), and the connecting structure 15 is used for detachably connecting with the second movable unit 13. The extension mechanisms 20 are interconnected. The connection structure 15 can be different structures or components according to the load requirement of the actual robot arm device 1; 14 protruding from the end, and the connection structure 15 may include a plurality of locking holes 151, so the structure corresponding to the extension mechanism 20 can be connected to the connection structure 15 through a plurality of locking pieces (not shown, such as screws) are fixed to each other, so that the extension mechanism 20 and the third movable unit 14 can be fixed to each other; in the case of a relatively heavy load requirement, the connection structure 15 and the extension mechanism 20 can also be designed with a structure that can engage with each other, and The connection structure 15 and the extension mechanism 20 can be fixed to each other through the fastening of the engaging structure and the locking of the locking member (not shown, such as a screw) at the same time. Certainly, the connection structure 15 is not limited to any form, and any structure that enables the third movable unit 14 and the extension mechanism 20 to be firmly fixed to each other and can be easily disassembled is an application form of the connection structure 15 .

The extending mechanism 20 includes three extending movable units 21, 21', 21", one of which is defined as a connecting component 21; the remaining two extending movable units 21', 21" are connected to each other, and the two extending The movable units 21', 21" can rotate or move linearly relative to each other, one of the extended movable units 21' is connected to the connecting assembly 21, and the two extended movable units 21', 21" can also rotate or move relative to the connecting assembly 21 Move linearly. In the drawings of this embodiment, the extension movable units 21', 21" of the two non-connecting components 21 are taken as an example, which are respectively capable of rotating relative to each other, but it is not limited thereto. In other applications, The movable relationship between the extended movable units 21 ′, 21 ″ of the two non-connected components 21 and the movable relationship with the connected component 21 can be changed according to requirements.

As the extended movable unit 21 of the connecting assembly 21, it is detachably fixed to the connecting structure 15, and the connecting assembly 21 can rotate (or linearly move) relative to the third movable unit 14, and the connecting assembly 21 can also move with the third movable unit 14. , at least one rotational or linear movement of the second movable unit 13 and the first movable unit 12 . In this way, after the extension mechanism 20 and the main mechanism 10 are connected to each other, the degrees of freedom of the robot arm device 1 can be increased from three degrees of freedom to six degrees of freedom, that is, the robot arm device 1 can become a six-axis robot arm.

In a specific application, the connecting assembly 21 may include a connecting body 211 , a driving part 212 and a linking part 213 . The connection body 211 can be a hollow shell (or partially hollow), and one end of the connection body 211 has a fixed structure 2111 (as shown in FIG. 4 ), and the fixed structure 2111 is used for detachable connection with The connecting structures 15 are fixed to each other, and the fixing structure 2111 is designed to correspond to the connecting structures 15; The third movable unit 14 can be connected by a plurality of locking pieces (not shown in the figure, such as screws), a plurality of lock holes (fixed structure 2111) of the connection assembly 21 and a lock hole (connection structure 15) of the third movable unit 14. Cooperate with each other and lock each other. In other applications, the fixing structure 2111 may also be a structure formed by protruding from one end of the connecting body 211 , and has a corresponding shape to the connecting structure 15 . In practical applications, in order to make the fastening structure 2111 and the connecting structure 15 fast and conveniently fixed, the fastening structure 2111 and the connecting structure 15 can respectively have a plurality of positioning parts (such as convex and concave structures, guide posts, etc.) etc.), without limitation.

The driving member 212 (such as a motor) of the connection assembly 21 is arranged on the connecting body 211, and the driving member 212 can drive the rotation of the linkage 213 (such as a driven wheel). The part of the linkage 213 can be exposed to the connection body 211, and The link 213 is used to link an external component (can be selected according to requirements, for example, it can be a clamp). In other words, the extension mechanism 20 described in this embodiment can be regarded as a three-axis robot arm, and the relevant manufacturers or application manufacturers can install the extension mechanism 20 on existing three-axis robot arms according to requirements. A mechanical arm device 1 with three degrees of freedom, so that the mechanical arm device 1 increases three degrees of freedom, and becomes a mechanical arm device 1 with six degrees of freedom.

In a preferred application, the third movable unit 14 may include a movable body 141, one end of the movable body 141 has a connecting structure 15, and the movable body 141 has the end of the connecting structure 15, and a receiving groove is formed in the concave 14a; the driving member 212 of the connecting assembly 21 can be exposed to the connecting body 211; when the connecting assembly 21 and the third movable unit 14 are fixed to each other, the driving member 212 exposed to the connecting body 211 can be correspondingly arranged in the accommodating groove 14a , so that the volume of the whole robotic arm device 1 can be effectively reduced.

It is worth mentioning that the connecting component 21 may include an electrical connecting component (not shown in the figure, such as a power line, a transmission line, etc.), which is electrically connected to the driving component 212 and the driving components of the other extended movable units 21', 21" ( Not shown in the figure, such as a motor), and the electrical connection component can be connected with the relevant electrical connection component in the third movable unit 14 (not shown in the figure, such as a power line, a transmission line, etc.), so that the extension mechanism 20 can be connected with the main body Mechanisms 10 are electrically connected to each other. In other words, in a specific implementation, the end of the third movable unit 14 can have relevant components (such as joints of various electrical connection lines) that can be electrically connected with the connection assembly 21, so that relevant personnel can It is only necessary to connect the electrical connection assembly 21 of the connection assembly 21 with the relevant electrical connection member reserved at the end of the third movable unit 14, and after fixing the fixing structure 2111 and the connection structure 15 to each other, the three The main mechanism 10 with six degrees of freedom is converted into a mechanical arm device 1 with six degrees of freedom. Of course, in other applications, the third movable unit 14 may also not have a corresponding electrical connection member, and the electrical connection of the extension mechanism 20 The connecting component can be electrically connected with the relevant control mechanism of the main mechanism 10 by wire or wirelessly.

In practical applications, the two extended movable units 21', 21" of the non-connected component 21 can be connected with the extended movable unit as the connected component 21 through an adapter component 22; that is, the two non-connected components 21 The extended movable units 21 ′, 21 ″ are detachably connected with the extended movable unit as the connection assembly 21. In this way, the relevant manufacturers can selectively set the rest of the extension movable units 21' (21") as the extension movable unit of the connection assembly 21 according to the requirements, so that the extension mechanism 20 is composed of a mechanical arm with a single degree of freedom. Transform into a mechanical arm with two (three) degrees of freedom, so that the manufacturer can more flexibly carry out production and assembly according to the needs of customers for different degrees of freedom. About the extended movable unit 21 of the two non-connected components 21 ′, 21 ″ and the extended movable unit as the connecting component 21 are detachably connected to each other. The relevant structure is not limited here, for example, it may be locked to each other by multiple locking pieces. Of course, the two extension units 21', 21" of the non-connection component 21 can also be electrically connected to the extension unit as the connection component 21 through the above-mentioned related electrical connection components, and through the extension activity of the connection component 21 The unit is electrically connected to the main mechanism 10, or the extended movable units 21', 21" of the two non-connected components 21 can be electrically connected to the main mechanism 10 independently through wired or wireless means.

In a preferred application, the first movable unit 12 is disposed on the fixed base 11 , and the first movable unit 12 can rotate relative to the fixed base 11 around a first longitudinal axis V1. The second movable unit 13 is connected with the first movable unit 12, and the second movable unit 13 can move linearly along a longitudinal direction F; The longitudinal direction F moves linearly. The third movable unit 14 is connected to the second movable unit 13, and the third movable unit 14 can rotate around a second longitudinal axis V2. Wherein, the first longitudinal axis V1, the longitudinal direction F and the second longitudinal axis V2 are parallel to each other. The connection assembly 21 of the extension mechanism 20 is connected to the third movable unit 14; another extension activity unit 21' of the extension mechanism 20 is connected to the connection assembly 21, and the extension activity unit 21' can utilize the mechanism, and rotate with respect to the connecting assembly 21 with the first transverse axis H1 as the center; the other extension movable unit 21" can use the mechanism contained in the extension movable unit 21' to rotate in a second lateral direction relative to the extension movable unit 21' The axis H2 is the center of rotation; the external member connected to the end of the extension movable unit 21" can use the mechanism contained in the extension movable unit 21", and is centered on a third longitudinal axis V3 relative to the extension movable unit 21". rotate. Wherein, the first transverse axis H1 and the second transverse axis H2 may be parallel to the first longitudinal axis V1, and the third longitudinal axis V3 may be parallel to the first longitudinal axis V1.

Through the above-mentioned first movable unit 12, the second movable unit 13 and the third movable unit 14 are connected and moved, the load torque of the main mechanism 10 in the vertical direction can be effectively reduced, so that the third movable unit 14 and the extension The mechanism 20 can adopt a relatively light structure and a relatively small horsepower to achieve a relatively large load capacity, thereby effectively reducing the manufacturing cost of the overall mechanical arm device 1 .

Please refer to FIG. 1 (the prior art six-axis robotic arm) and FIG. 2 together. As shown in FIG. 2 , the mechanical arm device 1 of the present invention can limit the third movable unit 14 to only be able to Rotating around the Z-axis, therefore, the weight carried by the end of the third movable unit 14 (the force perpendicular to the negative Z-axis direction), relative to the moment T1 generated by the second longitudinal axis V2, can be controlled by the second movable unit 14. The structure in which the unit 13 is connected to the third movable unit 14 is offset, thereby effectively reducing the required output torque of the driving member that drives the third movable unit 14 to move relative to the second movable unit 13 . In this way, the third movable unit 14 can be driven by a driving member with a relatively low output torque.

Generally speaking, the components with the highest cost of the mechanical arm device are the driving parts and the speed reducer, and the price of the driving parts is roughly proportional to the output torque. In this way, the cost of the relevant driving parts can be effectively reduced, thereby reducing the cost of the overall mechanical arm device 1 . In addition, the driving member of the second movable unit 13 is to drive the third movable unit 14 to rotate around the second longitudinal axis V2, and the direction of the moment T1 is to rotate counterclockwise around the positive Y-axis. Therefore, the torque T1 The direction is different from the rotation direction of the driving member (clockwise or counterclockwise around the Z-axis), and does not directly affect the driving member.

Similarly, since the second movable unit 13 moves linearly relative to the first movable unit 12, the weight carried by the end of the third movable unit 14 (the force perpendicular to the negative Z-axis direction) is relative to the first longitudinal axis V1 The generated moment T2 can be counteracted by strengthening the strength of the linear slide rail, and the driving member that drives the second movable unit 13 to move relative to the first movable unit 12 is not easily affected by the moment T2.

As shown in FIG. 1 , in contrast to the prior art six-axis robotic arm, the third movable unit 13 ′ rotates around a transverse axis AX1 relative to the second movable unit 12 ′, and the third movable unit 13 ′ The moment T1' generated by the loaded weight relative to the transverse axis AX1 will be in the same or opposite direction as the moment produced by the driving member that drives the third movable unit 13' (centered on the transverse axis AX1) to rotate. , which will result in a load on the rotation of the driving member, and will offset or enhance the output torque generated by the driving member, for which additional related design must be carried out to resist the torque T1', for example, increasing the motor The output torque or increase the setting of the reducer, no matter which design will greatly increase the overall production cost (the components with the highest cost of the robot arm are the reducer and motor). Similarly, the second movable unit 12' of the prior art rotates with respect to the first movable unit 11' around another transverse axis AX2, and the weight carried by the third movable unit 13' is relative to the transverse axis AX2. The moment T2' generated by the axis AX2 will be in the same direction as or opposite to the output moment of the driving member that drives the second movable unit 12' to rotate relative to the first movable unit 11' around the transverse axis AX2, thereby causing The burden on the driving parts leads to an increase in cost.

Therefore, the mechanical arm device 1 of the present invention utilizes the second movable unit 13 to move linearly along a longitudinal axis relative to the first movable unit 12, and makes the third movable unit 14 move relative to the second movable unit 13 along another longitudinal axis. The center rotates, so that the mechanical arm device 1 of the present invention can use a driving member with a relatively low output torque, thereby greatly reducing the cost of the overall mechanical arm device.

second embodiment

Please refer to FIG. 4 and FIG. 5 together. Different from the foregoing embodiments, in other applications, the extension mechanism 20 may only include a single extension movable unit 21 (that is, the aforementioned connection assembly), and the extension mechanism 20 After being assembled on the main mechanism 10, the robot arm device 1 can be converted from three degrees of freedom to four degrees of freedom. The arrangement of the connecting component 21 and the first movable unit 12 , the second movable unit 13 , and the third movable unit 14 of the main mechanism 10 are the same as those in the foregoing embodiments, and will not be repeated here.

In a preferred application, the extension mechanism 20 also includes an auxiliary connecting piece 23, and its two ends respectively have an auxiliary connecting structure 231, 231', and the auxiliary connecting piece 23 can be connected to the connecting structure 15 through the auxiliary connecting structure 231, And the auxiliary connecting member 23 can be connected with the connecting assembly 21 through the auxiliary connecting structure 231 ′. Wherein, the two ends of the auxiliary connecting piece 23 are not located on the same plane, therefore, after the connecting assembly 21 is connected to the third movable unit 14 through the auxiliary connecting piece 23, the moving direction of the related components of the connecting assembly 21 can be changed correspondingly. Specifically, as shown in FIG. 2, after the extension movable unit 21 as the connection assembly 21 is directly fixed to the third movable unit 14, the connection assembly 21 will rotate around the transverse axis (H1 indicated in FIG. 2 ). ; Relatively, as shown in FIG. 5 , after the same connecting assembly 21 is connected to the third movable unit 14 through the auxiliary connecting piece 23 , the connecting assembly 21 is converted to rotate around a longitudinal axis V4. In a preferred application, the auxiliary connecting structure 231' and the connecting structure 15 are of the same structure, and the connecting component 21 can be selectively connected to the auxiliary connecting structure 231' or the connecting structure 15, so that relevant manufacturers may According to the requirement, the connecting component 21 can be connected with the connecting structure 15 or the auxiliary connecting structure 231' conveniently and quickly.

Preferably, the linkage 213 of the connection assembly 21 rotates around the longitudinal axis V4, wherein the longitudinal axis V4 may be parallel to the first longitudinal axis V1 and the second longitudinal axis V2 (as shown in FIG. 2 ); Therefore, in conjunction with the connection and movement modes among the first movable unit 12, the second movable unit 13 and the third movable unit 14 carried in the foregoing embodiments, the load torque of the main mechanism 10 in the vertical direction can be effectively reduced, so that The third movable unit 14 and the extension mechanism 20 can adopt a relatively light structure and a relatively small horsepower to achieve a relatively large load capacity, thereby effectively reducing the manufacturing cost of the overall mechanical arm device 1 .

Please refer to Fig. 2 and Fig. 4 together. The extension mechanism 20 is detachably connected to the main mechanism 10. Therefore, relevant application manufacturers or manufacturers can replace the extension units with different numbers according to different requirements. 21, 21', 21" of the extension mechanism 20, and correspondingly change the degree of freedom of the robot arm device 1. That is to say, the relevant user can use the extension mechanism 20 of the robot arm device 1 shown in Fig. 2 (Fig. 4) Disassemble from the main mechanism 10, and replace the extension mechanism 20 with a single (three) extension movable units 21 (21, 21 ', 21 ") shown in Fig. 4 (Fig. 2), so that Fig. 2 ( The mechanical arm device 1 with six (four) degrees of freedom shown in FIG. 4 ) is converted into a mechanical arm device 1 with four (six) degrees of freedom. That is, for the application manufacturer, the existing four (six) axis robot device can be converted into a six (four) axis robot device by disassembling and assembling the extension mechanism 20 . In addition, for the manufacturer, no matter it is a four-axis robot arm device or a six-axis device, they all share the same main mechanism 10, therefore, in the overall production operation, relevant control can be carried out more effectively, so that it can effectively reduce production costs. In short, the relevant manufacturers can assemble the main mechanism 10 with three degrees of freedom into the extension mechanism 20 with N extension movable units according to the requirements, so that the robot arm device 1 as a whole has N+3 degrees of freedom (N is a positive integer).

What's more, the extension mechanism 20 cooperates with the detachable design of the extension movable units 21', 21" of the two non-connecting components 21, and the related manufacturers can more flexibly according to the needs of customers for different degrees of freedom. In other words, in the extension mechanism 20, the extension movable units 21', 21" that are not used as the connection assembly 21 can also be detachably connected with the connection assembly 21, and the extension mechanism 20 can also be used as required The number of extension movable units of the extension mechanism 20 is quickly changed. That is to say, by changing the number of extension movable units connected to the connecting assembly 21 , the robotic arm device 1 with three degrees of freedom can also be converted into a robotic arm device 1 with five or seven degrees of freedom.

Claims (10)

1. a kind of mechanical arm device, which is characterized in that the mechanical arm device includes：

One main machine frame, it includes one first active unit, one second active unit and a third active unit, first activity Unit, second active unit and the third active unit are interconnected with one another, and the main machine frame can make the machinery Arm apparatus has three degree of freedom；Wherein, the third active unit has a connection structure；And

One extension mechanism, the extension mechanism are removably connect with the main machine frame, the main machine frame and the extension mechanism It can make the mechanical arm device that there is N+3 or more degree of freedom, N is positive integer, and the extension mechanism includes：

N number of expanding activity unit, one of expanding activity unit are defined as a connection component, and the connection component is removably It is fixed to each other with the connection structure, and the extension mechanism can be rotated relative to the main machine frame or linear movement, it is described to prolong Stretching mechanism can be with main machine frame rotation or linear movement.

2. mechanical arm device according to claim 1, which is characterized in that N is equal to 1, which is described Connection component, the connection component include a connection ontology, an actuator and a moving part, and the connection ontology has one to consolidate Binding structure, the connection component can be cooperated by the built-in structure and the connection structure, and with the third activity Unit is removably fixed to each other, and the actuator is set to the connection ontology, and the actuator can drive the gearing Part acts, and the part of the moving part exposes to the connection ontology, and the moving part to interlock an external component or its His expanding activity unit.

3. mechanical arm device according to claim 2, which is characterized in that the third active unit includes an activity One end of ontology, the moving body has the connection structure, and the end of the moving body has been recessed an appearance Slot is set, exposing to the actuator of the connection ontology can correspond to and be placed in the storage tank.

4. mechanical arm device according to claim 1, which is characterized in that the extension mechanism includes to prolong there are one described Active unit is stretched, the expanding activity unit is the connection component, and the connection component includes a connection ontology, a driving Part, a moving part and a connection assist, the connection ontology are connected with the connection assist, and the connection assist can It is releasably fixed to each other with the connection structure, the connection ontology is provided with the actuator and the moving part, the drive Moving part can drive the moving part to act, and the moving part is for interlocking an external component.

5. mechanical arm device according to claim 4, which is characterized in that the connection ontology removably with it is described auxiliary Connector is helped to be fixed to each other；One end that connection ontology and the connection assist are fixed to each other also can removably with it is described Connection structure is fixed to each other.

6. mechanical arm device according to any one of claim 1 to 5, which is characterized in that first active unit It can be rotated centered on a longitudinal axis, second active unit is connected with first active unit, and described second Active unit can be relative to first active unit along a longitudinal direction linear movement；The third active unit is connected to institute The second active unit is stated, and during the third active unit can be with an another longitudinal axis relative to second active unit The heart rotates.

7. a kind of extension mechanism, which is characterized in that the extension mechanism includes N number of expanding activity unit, and N is positive integer, wherein One expanding activity unit is defined as a connection component, the connection component to the mechanical arm with X degree of freedom Device is connected with each other, so that the mechanical arm device has X+N degree of freedom, X is positive integer；Wherein, it is described when N is more than 1 N number of expanding activity unit is interconnected with one another.

8. extension mechanism according to claim 7, which is characterized in that the connection component includes a connection ontology, one Actuator and a moving part, the connection ontology have a built-in structure, the built-in structure removably with the manipulator Arm assembly is fixed to each other, and the actuator is set to the connection ontology, and the actuator can drive the moving part to rotate, The part of the moving part exposes to the connection ontology, and the moving part is for interlocking an external component.

9. extension mechanism according to claim 7, which is characterized in that N is equal to 1, which is the connection Component, the connection component also include a connection assist, the connection component include a connection ontology, an actuator and One moving part, the connection ontology are connected with the connection assist, the connection assist removably with the machinery Arm apparatus is fixed to each other, and the connection ontology is provided with the actuator and the moving part, and the actuator can drive institute Moving part action is stated, the moving part is for interlocking an external component.

10. extension mechanism according to claim 9, which is characterized in that the connection ontology removably with the auxiliary Connector is fixed to each other, and described one end for connecting this physical efficiency and the connection assist and being fixed to each other, also can removably with The mechanical arm device is fixed to each other.