Foldable six degrees of freedom light type operating arm with joint axis orthogonal relation

Abstract

A foldable six degrees of freedom light type operating arm with a joint axis orthogonal relation is characterized in that a first rotating joint, a second rotating joint, a large arm connecting rod, a third rotating joint, a forth rotating joint, a fifth rotating joint and a sixth rotating joint are arranged on a foundation base in sequence, an output end of the sixth rotating joint is connected with a tail-end single degrees of freedom paw, wherein an axis of the first rotating joint is arranged coaxially with the foundation base and is perpendicular to an axis of the second rotating joint, the axis of the second rotating joint is parallel to an axis of the third rotating joint, the axis of the third rotating joint is perpendicular to an axis of the forth rotating joint, the axis of the forth rotating joint is perpendicular to an axis of the fifth rotating joint, the axis of the fifth rotating joint is perpendicular to an axis of the sixth rotating joint, and the axis of the forth rotating joint, the axis of the fifth rotating joint and the axis of the sixth rotating joint are intersected at one point in space. By means of the foldable six degrees of freedom light type operating arm with the joint axis orthogonal relation, the integrated structure of an operating arm is simpler and more convenient, and quality is more portable and convenient, so that the optimal operating flexible performance of the tail end of the operating arm can be assured.

Description

technical field [0001] The invention relates to a light-duty operating arm robot, in particular to a foldable six-degree-of-freedom light-duty operating arm with joint axes orthogonal to each other. Background technique [0002] The so-called light manipulator robot refers to a portable and flexible manipulator robot device with a certain load capacity and small mass and volume. [0003] In special fields such as field exploration, reconnaissance, dangerous goods disposal or medical operations, there is an urgent need to use robots, especially manipulator robot equipment, to replace personnel to complete certain tasks due to the danger of endangering the life and health of workers in the working environment. At present, the widely used industrial manipulator robot, although the design of the mechanical structure and parts is relatively perfect, but the load capacity of the industrial manipulator is generally large, and the payload ranges from tens of kilograms to more than 1...

AI Technical Summary

Problems solved by technology

At present, the widely used industrial manipulator robot, although the design of the mechanical structure and parts is relatively perfect, but the load capacity of the industrial manipulator is generally large, and the payload ranges from tens of kilograms to more than 1 ton. There are problems such as large volume, cumbersome operation, heavy weight, and complex control system. The main application fields include packaging, palletizing, material handling, and automotive spraying operations. on mobile robotic platforms or vehicles

For the operation requirements in special environments such as field exploration or dangerous goods disposal, due to the limited carrying space of the mobile robot platform, it is necessary to install the operating arm with the characteristics of small size, compact structure, and light weight, but the too small structural size is obviously limited. The working space and working range of the manipulator robot are limited, so the manipulator preferably has technical features such as foldable

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