Lightweight folding intelligent mechanical arm

Abstract

The invention discloses a lightweight folding type intelligent mechanical arm which comprises a rotating mechanism, a folding and unfolding mechanism and a grabbing mechanism. Wherein the folding and unfolding mechanism is composed of three main bodies, namely a large arm, a small arm and a tail end arm in sequence from the base to the tail end, and the three main bodies are driven by a plurality of motors to move. The large arm is a main mechanical arm and has two degrees of freedom of pitching (Pitch) and deflection (Yaw), the small arm and the tail end arm each have one degree of freedom of deflection, and the whole large arm can be folded and unfolded. The small arm and the tail end arm are driven by a synchronous belt, and a driving motor is arranged near a base, so that the overall gravity center of the mechanical arm is mainly concentrated on the base, the movement stability is improved, and the invalid load is reduced. Each joint of the mechanical arm is provided with a brake device, so that the joints can be self-locked to reduce energy consumption. The small arm and the tail end arm can be controlled to be unfolded, a large working space is achieved, and in the non-working state, the small arm and the tail end arm can be controlled to be folded, so that the overall space occupancy is reduced, and small-space storage is achieved.

Description

technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a lightweight folding intelligent mechanical arm. Background technique [0002] Various types of manipulators are constantly appearing in front of the public. At this stage, there are mainly Cartesian coordinate configuration, SCARA configuration and other manipulators. The Cartesian coordinate manipulator has a simple structure, easy installation and use, but its freedom With less degree or limited working space, it is necessary to extend the actuator to meet specific picking or sorting operation needs. Or the sorting execution part is heavy and the center of gravity is not concentrated, which will lead to unstable operation and occupy a large space; the robot arm of SCARA configuration adopts the motor direct drive mode for transmission. When the robot arm has more degrees of freedom, the motor directly drives It will lead to heavy picking or sorting execution parts, a...

AI Technical Summary

Problems solved by technology

[0002] A variety of robotic arms are constantly appearing in front of the public. At this stage, there are mainly robotic arms with rectangular coordinate configuration and SCARA configuration. The mechanical arm with rectangular coordinate configuration is simple in structure and easy to install and use, but its freedom If the degree is small, or the working space is limited, it is necessary to expand the actuator to meet the specific needs of picking or sorting operations. Or the sorting execution part is heavy, and the center of gravity is not concentrated, which will lead to unstable operation and occupy a large space; the mechanical arm of the SCARA configuration adopts the direct drive mode of the motor for transmission. When there are many degrees of freedom of the mechanical arm, the direct drive of the motor It will lead to heavy picking or sorting execution parts, "top-heavy" phenomenon, and it is difficult to control precision. Usually, the end of the robotic arm uses visual recognition technology to identify items or fruits and combines them with grippers for sorting or picking.

Images