Multiple-joint service robot arm capable of implementing translational decoupling at Z direction

Abstract

The invention provides a multi-joint service robot arm which can achieve translational decoupling along the Z direction; the structure of the arm uses a U RR+R type which consists of a shoulder joint which has two swing pairs, an elbow joint which has a swing pair, a wrist joint which has a rotation pair and a swing pair, a large arm which is connected between the shoulder joint and the elbow joint, a small arm which is connected between the elbow joint and the wrist joint, and paws which are connected with the wrist joint; the shoulder joint comprises a parallelogram mechanism and a shoulder connecting body; the driving arm of the shoulder joint is connected with a motor connecting shaft sleeve which is connected with the motor output shaft; the shoulder connecting body is arranged on the connecting arm of the parallelogram mechanism; the shoulder connecting body comprises a bracket which consists of a supporting plate and a supporting angle aluminium; the bracket is connected with a shoulder actuator and a transmission plate; the actuator is fixed on the bracket; the shoulder transmission plate is connected with the bracket; the actuator output shaft is connected with the transmission plate; the transmission plate is connected with one end of the large arm.

Description

1. Technical field [0001] The invention relates to a robot arm with simple structure and low cost that can realize translation decoupling in the Z direction (vertical direction). It relates to a multi-joint service robot arm capable of realizing Z-direction translational decoupling. 2. Background technology [0002] Robotics has made a significant contribution to the development of modern manufacturing. In recent years, the application of robot technology is gradually expanding from the existing production field to a wider field of human life, and miniaturized, lightweight and practical artificial intelligence service robots are constantly being developed. At present, with the increasingly serious problem of global social aging and the urgent need to improve the quality of life of the disabled, escort robots, walker robots, rehabilitation robots, intelligent wheelchairs, etc., which are mainly for the elderly and disabled, are collectively referred to as "helping the elderl...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the disadvantage that the general robot arm cannot realize the translational movement of the manipulator in the Z direction without changing the postures of multiple joints of the robot arm, and to provide a simple structure and low cost robot with a large working space. A multi-joint service robot arm that can realize Z-direction translational decoupling, the invention can realize pure translational motion by pure rotation, that is, realize one-dimensional translational motion of the manipulator in the Z direction of space, while ensuring that the spatial posture of the manipulator remains unchanged

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