Multi-joint mechanical arm mechanism

Abstract

The invention provides a multi-joint mechanical arm mechanism. Two sub-arms are connected through a specific joint, and every two adjacent joints have incompletely same structures. Besides arms, a connecting rod is connected among every two joints, and the connecting rod, the sub-arms and the joints thereof form a parallelogram. In addition, the joints and the arms are connected through a cylinder. Some section of the cylinder is driven to extend out to a proper position, thus the section of the sub-arm can unbend, otherwise, the section of the sub-arm is driven to fold. As required, the invention can arbitrarily deform the mechanical arm so as to satisfy the requirements of different operation tasks. The mechanism can realize the over-length requirement of the arm, is convenient to fold and greatly reduces the transportation and storage space. In addition, the mechanism can get rid of length restriction based on multiple sections of telescopic cylinders, and the joints and folding arms can be increased and decreased according to requirements, thereby being convenient for the flexibly design of long arms and super long arms.

Description

technical field [0001] The patent of the present invention relates to a multi-joint mechanical arm. Background technique [0002] In engineering practice, the design of long mechanical arms and ultra-long mechanical arms has always been a difficult point in engineering design. This type of mechanical arm not only needs to be able to meet the operation requirements in terms of length, but also needs to consider the installation, transportation and other aspects of the mechanical arm. Storage site requirements. At present, the design of mechanical long arms mostly adopts multi-section telescopic mechanical arms, and the expansion and contraction of the mechanical arms is realized through multi-section telescopic oil cylinders, such as aerial work cranes. In addition, in many special working environments, limited by space and location, in order to complete specific tasks, the robotic arm also needs to have the ability to fold and deform arbitrarily, and can be deformed accordi...

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Problems solved by technology

The application number is 200810040451.2, and the title is "Large-angle Rotary Joint Mechanism of Robotic Arm" and other public documents, although there are public reports about the robotic arm, but they cannot meet the above requirements

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