Robot arm

Abstract

The invention relates to a robot arm comprising a robot wrist and robot grippers. The robot arm is characterized in that the robot wrist includes a small arm, a driving mechanism and a wrist body. Thewrist body is mounted on the front end of the small arm, and the wrist body is driven by the driving mechanism, so that the wrist body has two freedom degrees of rotation in two mutually-perpendicular directions, and the grippers mounted on the wrist body are driven to move; and the driving mechanism of the robot arm adopts a rope drive mode so that power can be output to be far away from the wrist body. The grippers are provided with driving fingers and driven fingers. The tail ends of the driving fingers and the driven fingers are meshed through gears, the driving fingers and the driven fingers are driven by motors, and a worm and a worm wheel are in shaft transmission to control opening and closing of the driving fingers and the driven fingers. The robot arm has the advantages that theeffective load and the dead load ratio of the whole mechanism are high, the structure of a wrist joint is simple, and the weight bearing performance of the wrist structure is good; and transmission parts of the grippers can realize the self-locking function of clamping mechanisms, control is simple, and reliable clamping can be guaranteed under the condition that a power source is not needed.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a robot arm. Background technique [0002] With the improvement of intelligent control technology, the application of using robotic arms to grab target objects is becoming more and more extensive, such as the arms of climbing robots and the arms of sorting robots. The wrist joints of the existing robot arm are distributed at the end of the robot arm, resulting in excessive load on the robot joints, heavy overall mass, low energy utilization rate, and low carrying capacity. The robot gripper adopts the clamping method of real-time joint control, which has complicated control, limited clamping force, poor stability and low reliability. Contents of the invention [0003] In view of the above problems, the present invention proposes a robot arm, which has a compact, flexible and lightweight wrist structure with a large load-bearing capacity, and a hand gripper with simpl...

AI Technical Summary

Problems solved by technology

The wrist joints of the existing robot arms are distributed at the end of the robot arm, resulting in excessive load on the robot joints, heavy overall mass, low energy utilization rate, and low carrying capacity

The robot gripper adopts the clamping method of real-time joint control, which has complicated control, limited clamping force, poor stability and low reliability

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