Multi-joint tabletop mechanical arm

Abstract

The invention belongs to the technical field of industrial mechanical arms. The two-degree-of-freedom light tabletop mechanical arm is provided, two joints of the mechanical arm can rotate by 360 degrees without limitation, two rotating power parts are close to the rotating center, the rotational inertia of each arm is greatly reduced, and the effective load of the mechanical arm is increased. According to the technical solution, the multi-joint tabletop mechanical arm comprises a base and a base power part installed on the base, and the mechanical arm is characterized by further comprising anarch-shaped frame driven by the base power part, a large arm rotating power part installed on the arch-shaped frame and of which the shaft axis is perpendicular to that of the base power part, a large arm body driven by the large arm rotating power part, a small arm body rotatably positioned at one end of the large arm body through a large-small arm connecting shaft, a small arm rotating power part installed at the other end of the large arm body, and a transmission assembly rotatably positioned on the small arm body and transmitting power of the small arm rotating power part to the small armbody.

Description

technical field [0001] The invention belongs to the technical field of industrial manipulators, and in particular relates to a two-degree-of-freedom lightweight desktop manipulator. Background technique [0002] With the development of science and technology and the continuous improvement of labor costs, robots are more and more widely used in various industries. The application of robots reduces people's labor intensity, improves production efficiency, and enhances the core competitiveness of enterprises. [0003] There are still some questionable points in the structure of the current robotic arm. First, most robotic arms currently have three or more degrees of freedom, but not every degree of freedom can rotate 360 ​​degrees without restriction, and each joint has a limited working range. This limitation has a serious impact on the motion path planning of the robotic arm, making it impossible for the robotic arm to perform motion operations on the optimal path, reducing ...

AI Technical Summary

Problems solved by technology

However, the joint motors are placed at the end of each arm, which greatly increases the weight and moment of inertia of each arm, resulting in a rapid increase in the power and torque requirements of the previous motors at all levels; The weight increases; at the same time, the increase in the moment of inertia reduces the kinematic performance of the manipulator, resulting in a decrease in the effective load

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