Joint structure of modular mechanical arm

Abstract

The invention provides a joint structure of a modular mechanical arm. The end face of the upper part of a supporting framework of the joint structure is formed as an arch-shaped connection region; theend face of the lower part is formed as a rectangular fixation region; the middle part is provided with a driver; an output shaft, positioned at a linkage side of the supporting framework, of the driver is provided with a driving wheel; the other side, opposite to the driving wheel, of the supporting framework is formed as a driving side; the upper part, close to the connection region, of the supporting framework is provided with a speed reducer; an input shaft, at the same side with the driving wheel, of the speed reducer is provided with a linkage wheel; the speed reducer at the driving side is provided with a speed reducer output shaft; one side, close to the speed reducer output shaft, of the speed reducer is provided with a mounting plate; the driving wheel and the linkage wheel arein transmission connection through a closed belt; the lower part of the supporting framework is provided with a joint integration controller; the joint integration controller is connected with the driver; and the part, close to the edge of one side of the supporting framework, of the fixation region is provided with a connector so as to solve the defects that an existing mechanical arm is not precise in rotation, inconvenient to maintain and tedious and complicated in control.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a joint structure of a modular mechanical arm. Background technique [0002] The emergence of robotic arms has helped the modern production process to have more modes of operation. In some special fields, such as the electronics field, robotic arms can achieve more precise installation of electronic components. In some biochemical technology fields, specific In the environment where personnel are not suitable for the detection site, the mechanical arm can help people to realize real-time monitoring of the site, but the mechanical arm in the prior art has many inconveniences. Such as [0003] Chinese patent (publication number "CN107803830A") discloses a seven-degree-of-freedom force feedback hydraulically driven mechanical arm, including a hydraulic control assembly and a connecting rod assembly. The connecting rod assembly includes six first connecting rod assemblies co...

AI Technical Summary

Problems solved by technology

Although the technical scheme disclosed in the application has high structural operation accuracy and strong flexibility, the technical scheme also has some defects. Once a problem occurs, it must be disassembled as a whole when performing maintenance, which is extremely inconvenient

[0005] Simultaneously, the mechanical arms of the above-mentioned two patent disclosure technical solutions all control the joints (steering gear) of each mechanical arm respectively by a control system, and then reach the purpose of moving, and there is only one joint (steering gear) between the mechanical arms. Mechanical connection relationship, in this case, on the one hand, there will be a phenomenon of slow response, on the other hand, when the robot arm is moving, there are fewer calculated solutions, in complex environments, or in the case of obstacles , it is difficult to calculate a more suitable manipulator rotation scheme

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