Intelligent desktop robotic arm

Abstract

The application relates to the technical field of mechanical arms and discloses an intelligent desktop mechanical arm which comprises a support, a control box fixedly installed on the support, three motors fixedly installed on the control box, a driving arm fixedly installed at the output end of each motor, a driven arm movably installed at one end of each driving arm, an end effector arranged below the control box and movably connected to the lower end of each driven arm. The desktop mechanical arm is rotated by the driving arm driven by the motor, the driving arm drives two connecting rods to move through the cooperation of the first ball socket and the first ball head, the two ends of the telescopic sleeve are single-plane rotated in the corresponding arc-shaped grooves, the two ends of the connecting rods are limited and further reinforced, the relative rotation between the two connecting rods or the angle deviation is prevented from no longer maintaining the parallelogram state, and when the end effector collides to make the lower end of the connecting rod stressed, the spring can play a buffering role, and the two reinforcing rods reinforce the two ends of the telescopic sleeve respectively.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent desktop robotic arm. Background Technology

[0002] Desktop robotic arms typically employ parallel multi-joint manipulators, designed specifically for desktop applications. They possess three or more degrees of freedom, and their main structure comprises a support frame, parallel arms, an end effector, and an independent controller. Their core structure is based on a parallel mechanism consisting of three sets of parallel arms. Geometric constraints enable precise three-dimensional translation of the end effector. Each of the three symmetrically distributed parallel arms includes an upper active arm driven by a motor and a lower driven arm composed of parallelogram linkages. Relying on precise geometric modeling and closed-loop control, repeatability reaches millimeter-level accuracy. Furthermore, joint angles are calculated in real-time using geometric methods to meet high-speed trajectory tracking requirements. Thanks to the high speed and precision advantages of their parallel structure, desktop robotic arms have expanded from industrial applications to education, research, and light automation. Intelligent and modular design are currently central to technological evolution, and future development will focus on safer human-machine collaboration and cloud-based optimization. In actual use, desktop robotic arms may experience deviations in their end effector's trajectory due to various factors such as trajectory planning errors, sensor failures, workpiece abnormalities, human-machine collaboration errors, and mechanical malfunctions. This can lead to collisions between the end effector and the gripped workpiece. Since the end effector of a robotic arm is typically connected to the active arm by multiple relatively slender metal links, and these links are usually lightweight with limited rigidity, the links may undergo slight deformations that are difficult to detect with the naked eye during a collision. This can cause the end effector to lose its horizontal position, resulting in a continuous increase in the error of the robotic arm during subsequent use, creating a vicious cycle that affects the positioning accuracy of the robotic arm and may even damage the robotic arm and the workpiece. To address this, we propose an intelligent desktop robotic arm. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent desktop robotic arm to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an intelligent desktop robotic arm, comprising a support, a control box fixedly mounted on the support, three motors fixedly mounted on the control box, an active arm fixedly mounted at the output end of each motor, a driven arm movably mounted at one end of each active arm, an end effector disposed below the control box, and an end effector movably connected at the lower end of each driven arm; Each driven arm consists of two connecting rods, which are always arranged in a parallelogram shape. A connecting seat is fixedly installed on each connecting rod. A telescopic sleeve is provided between every two corresponding connecting seats. An arc-shaped groove is provided on one side of each connecting seat. Both ends of each telescopic sleeve are set into arc shapes corresponding to the arc-shaped groove. A spring is fixedly connected between the inner walls of both ends of each telescopic sleeve. An arc-shaped guide groove is provided on the inner wall of each arc-shaped groove. Limiting blocks that cooperate with the guide groove are fixedly installed at both ends of each telescopic sleeve.

[0005] Preferably, each of the connecting rods has a first ball socket and a second ball socket fixedly installed at its upper and lower ends, and each of the active arm ends has a first ball head that mates with the first ball socket on both sides. The end effector has a plurality of second ball heads that mate with the second ball socket fixedly installed on it.

[0006] Preferably, a double-headed cylinder is fixedly installed inside one end of each of the active arms, a connecting plate is fixedly installed at one end of each of the first ball heads, the two output ends of each of the double-headed cylinders respectively abut against one side of the corresponding connecting plate, and a plurality of disc springs are arranged between the other side of each connecting plate and the inner wall of the active arm, the disc springs being arranged in a crisscross pattern.

[0007] Preferably, the end effector is provided with an annular groove, a counterweight ring is provided in the annular groove, and a plurality of spherical grooves are provided at the lower end of the counterweight ring. The spherical grooves are arranged in a circle, and each spherical groove is provided with a magnetic bead. Each magnetic bead is fixedly connected to the inner wall of the annular groove with a telescopic rod.

[0008] Preferably, the annular groove is provided with three pressure sensing plates for controlling the operation of the corresponding double-headed cylinders. Each pressure sensing plate is fixedly connected to the inner wall of the top of the annular groove with an elastic rod. Each pressure sensing plate is arranged in a 120-degree arc and is located above the counterweight ring. The three pressure sensing plates are fixedly connected to each other and form a ring.

[0009] Preferably, each of the active arm ends is rotatably mounted with a cover plate for limiting the first ball socket on both sides, each cover plate is configured as an arc shape that matches the outer wall of the first ball socket, and a plurality of arc-shaped blocks for reducing friction are fixedly mounted on the inner wall of each cover plate.

[0010] Preferably, each of the cover plates is fixedly installed with a wedge block on both sides, and each of the active arm ends has a slot on the outer wall on both sides for limiting the wedge block. Each wedge block is made of elastic material, and the thrust required for the wedge block to deform is greater than the elastic force of the disc spring.

[0011] Preferably, an electromagnetic ring is fixedly installed at the bottom of the annular groove. When the electromagnetic ring is energized, its magnetism attracts the magnetic bead, and the magnetic attraction between the electromagnetic ring and the magnetic bead is greater than the elastic force of the telescopic rod.

[0012] Preferably, each telescopic sleeve has a rotating seat fixedly installed at both ends, and two reinforcing rods are provided between every two corresponding connecting rods, with each rotating seat rotatably connected to the corresponding reinforcing rod.

[0013] Preferably, each of the reinforcing rods is fixedly equipped with several indicator bars for displaying deformation, and the indicator bars are arranged vertically in a straight line.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes a motor to drive the active arm to rotate, and through the cooperation of the first ball socket and the first ball head, the active arm drives two connecting rods to move. During the movement of the connecting rods, the two ends of the telescopic sleeve will rotate in a single plane within the corresponding arc groove, limiting and further reinforcing the connecting rods at both ends, preventing relative rotation or angular deviation between the two connecting rods from maintaining the parallelogram state. When the end effector collides and the lower end of the connecting rod is subjected to force, the spring can play a buffering role. At the same time, the rotating seat and the reinforcing rod also rotate relative to each other, so that the two reinforcing rods always remain parallel to the two corresponding connecting rods. The two reinforcing rods respectively reinforce the two ends of the telescopic sleeve, so that the two ends of multiple telescopic sleeves can maintain the consistency of rotation, improving the support between the two connecting rods. When the connecting rod deforms, the reinforcing rod will be deformed by the rotation of the rotating seat, and the indicator bar will no longer maintain a straight vertical arrangement.

[0015] This invention utilizes a counterweight ring to detect the tilt of the end effector. The counterweight ring's own weight keeps it in balance. When the end effector tilts, the telescopic rod on the tilted side extends, while the telescopic rod on the opposite side shortens. The corresponding magnetic bead rotates within the spherical groove. Simultaneously, the pressure sensing plate tilts accordingly with the end effector and is limited by the counterweight ring. The pressure sensing plate in contact with the counterweight ring detects a certain pressure. The more severe the deformation of the connecting rod, the greater the tilt angle of the end effector, and the greater the pressure detected by the corresponding pressure sensing plate. Each pressure sensing plate corresponds to a driven arm, and the corresponding double-headed cylinder extends to a corresponding extent, pushing the first ball head into the first ball socket, increasing the preload of the corresponding ball joint, and reducing end effector vibration caused by connecting rod deformation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the active arm structure of the present invention; Figure 3 This is a schematic diagram of the cover plate structure of the present invention; Figure 4 This is a schematic diagram of the first ball head structure of the present invention; Figure 5 This is a schematic diagram of the connecting rod structure of the present invention; Figure 6 This is a schematic diagram of the spring structure of the present invention; Figure 7 This is a schematic diagram of the telescopic sleeve structure of the present invention; Figure 8 This is a schematic diagram of the end effector structure of the present invention; Figure 9 This is a schematic diagram of the internal structure of the end effector of the present invention; Figure 10 This is a schematic diagram of the counterweight ring structure of the present invention; Figure 11 This is a schematic diagram of the pressure sensing plate structure of the present invention.

[0017] In the diagram: 1. Bracket; 2. Control box; 3. Motor; 4. Driving arm; 5. Driven arm; 6. End effector; 7. Linkage rod; 8. First ball socket; 9. Second ball socket; 10. First ball head; 11. Second ball head; 12. Connecting seat; 13. Telescopic sleeve; 14. Arc groove; 15. Spring; 16. Guide groove; 17. Limit block; 18. Connecting plate; 19. Disc spring; 20. Double-headed cylinder; 21. Annular groove; 22. Counterweight ring; 23. Spherical groove; 24. Magnetic bead; 25. Telescopic rod; 26. Pressure sensing plate; 27. Elastic rod; 28. Electromagnetic ring; 29. ​​Cover plate; 30. Arc block; 31. Wedge block; 32. Slot; 33. Rotating seat; 34. Reinforcing rod; 35. Indicator strip. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-11This invention provides a technical solution: an intelligent desktop robotic arm, comprising a support 1, a control box 2 fixedly mounted on the support 1, three motors 3 fixedly mounted on the control box 2, an active arm 4 fixedly mounted at the output end of each motor 3, a driven arm 5 movably mounted at one end of each active arm 4, an end effector 6 disposed below the control box 2, and each driven arm 5 movably connected at its lower end to the end effector 6, each driven arm 5 consisting of two links 7, the two links 7 always arranged in a parallelogram shape, a first ball socket 8 and a second ball socket 9 fixedly mounted at the upper and lower ends of each link 7 respectively, and a first ball head 10 cooperating with the first ball socket 8 on both sides of the end of each active arm 4, the end effector 6 being fixedly mounted with... The end effector 6 is equipped with several second ball heads 11 that cooperate with the second ball socket 9. Three motors 3 drive the corresponding active arms 4 to rotate at different angles, so that the end of the driven arms 5 is raised to different heights. The end effector 6 is pulled by the three driven arms 5 to perform three-dimensional motion. At the same time, since the distance between the two first ball heads 10 and the two second ball heads 11 remains constant, the two connecting rods 7 can always maintain a parallelogram state during the movement of the end effector 6. The corresponding first ball heads 10 and second ball heads 11 rotate in three dimensions in the corresponding first ball socket 8 and second ball socket 9, respectively, so that the end effector 6 can move to any height and any position within a certain range, which is convenient for the robotic arm to pick up and put down objects.

[0020] Furthermore, each connecting rod 7 is fixedly mounted with a connecting seat 12, and a telescopic sleeve 13 is provided between every two corresponding connecting seats 12. Each connecting seat 12 has an arc-shaped groove 14 on one side, and both ends of each telescopic sleeve 13 are formed into arcs corresponding to the arc-shaped groove 14. A spring 15 is fixedly connected between the inner walls of both ends of each telescopic sleeve 13. An arc-shaped guide groove 16 is provided on the inner wall of each arc-shaped groove 14. Limiting blocks 17 that cooperate with the guide groove 16 are fixedly installed at both ends of each telescopic sleeve 13. A rotating seat 33 is fixedly installed at both ends of each telescopic sleeve 13. Two reinforcing rods 34 are provided between each pair of corresponding connecting rods 7. Each rotating seat 33 is rotatably connected to the corresponding reinforcing rod 34. Several indicator bars 35 for displaying deformation are fixedly installed on each reinforcing rod 34. The indicator bars 35 are arranged vertically in a straight line. Since the two corresponding connecting rods 7 always maintain a parallelogram state during the movement, the two ends of the telescopic sleeve 13 will rotate in the corresponding arc grooves 14 during the movement of the connecting rods 7. At the same time, the guide groove 16 limits the limiting block 17, so that the telescopic sleeve 13 can only rotate in a single plane, limiting the two ends of the connecting rods 7 and allowing them to move forward. The reinforcement step prevents relative rotation or angular deviation between the two connecting rods 7, ensuring they maintain a parallelogram-like shape. Furthermore, when the end effector 6 collides with the connecting rod 7 and causes stress on its lower end, the spring 15 acts as a buffer, reducing deformation of the connecting rod 7 after impact and improving the motion accuracy of both the connecting rod 7 and the end effector 6. Simultaneously, when the connecting rod 7 moves, multiple telescopic sleeves 13 rotate synchronously between the two connecting rods 7, and the rotating seat 33 and the reinforcing rod 34 also rotate relative to each other, ensuring that the two reinforcing rods 34 always remain parallel to their corresponding connecting rods 7. Reinforcing both ends of the telescopic sleeve 13 ensures that both ends of multiple telescopic sleeves 13 maintain consistent rotation, improving support between the two connecting rods 7 without affecting the buffering effect of the spring 15. Furthermore, when a connecting rod 7 deforms, the deformed end of the telescopic sleeve 13 will no longer align with the undeformed end. The reinforcing rod 34 will also deform under the influence of the rotating seat 33, and the indicator bars 35 will no longer maintain a vertical alignment. Operators can observe the indicator bars 35 to determine the deformation of the corresponding connecting rod 7, facilitating timely replacement of deformed connecting rods 7 and improving the accuracy of the robotic arm.

[0021] Furthermore, a double-headed cylinder 20 is fixedly installed inside one end of each active arm 4, and a connecting plate 18 is fixedly installed at one end of each first ball head 10. The two output ends of each double-headed cylinder 20 respectively abut against one side of the corresponding connecting plate 18. Several disc springs 19 are arranged between the other side of each connecting plate 18 and the inner wall of the active arm 4. The disc springs 19 are arranged in a crisscross pattern. An annular groove 21 is provided inside the end effector 6. A counterweight ring 22 is provided inside the annular groove 21. Several spherical grooves 23 are provided at the lower end of the counterweight ring 22. The spherical grooves 23 are arranged in a circle, and a magnetic bead 24 is provided inside each spherical groove 23. Each magnetic bead 24 is fixedly connected to the inner wall of the annular groove 21 by a telescopic rod 25. Three control rods for the control are provided inside the annular groove 21. The pressure sensing plates 26 that operate in response to the double-headed cylinder 20 are each fixedly connected to the inner wall of the top of the annular groove 21 by an elastic rod 27. Each pressure sensing plate 26 is arranged in a 120-degree arc and is located above the counterweight ring 22. The three pressure sensing plates 26 are fixedly connected to each other and form a ring. An electromagnetic ring 28 is fixedly installed at the bottom of the annular groove 21. When the electromagnetic ring 28 is energized, its magnetism attracts the magnetic bead 24, and the magnetic attraction between the electromagnetic ring 28 and the magnetic bead 24 is greater than the elastic force of the telescopic rod 25. When the connecting rod 7 deforms, the lengths of the multiple connecting rods 7 are no longer consistent, and the end effector 6 will no longer maintain balance and will tilt to the deformed side. In the initial state when the robotic arm is not working, the end effector 6 remains stationary and horizontal. Electromagnetic ring 28 is not energized and does not generate magnetic attraction force on the magnetic beads 24. The counterweight ring 22 remains horizontal due to gravity. Each magnetic bead 24 maintains the same angle within its corresponding spherical groove 23, and each telescopic rod 25 remains in the same compressed state. When the robotic arm works and drives the end effector 6, electromagnetic ring 28 is energized, generating magnetic attraction force on the magnetic beads 24. Because the magnetic attraction force between electromagnetic ring 28 and magnetic beads 24 is greater than the elastic force of telescopic rod 25, all telescopic rods 25 will retract to their shortest state. The magnetic beads 24 drive the counterweight ring 22 downward. Multiple magnetic beads 24 always remain in their lowest state, and the counterweight ring 22 cannot move within the annular groove 21, thus not affecting the movement of the end effector 6. When the robotic arm finishes its work, electromagnetic ring 28 is de-energized again, and the telescopic rod 25... The elastic force pushes the magnetic bead 24 and the counterweight ring 22 back to their original positions. If the end effector 6 tilts as a whole at this time, the weight of the counterweight ring 22 will keep it balanced. The telescopic rod 25 on the tilted side of the end effector 6 will extend, and the telescopic rod 25 on the opposite side will shorten. The corresponding magnetic bead 24 will rotate in the spherical groove 23. At the same time, the pressure sensing plate 26 will tilt accordingly with the end effector 6 and be limited by the counterweight ring 22. Multiple pressure sensing plates 26 will move upward together with the end effector 6, the elastic rod 27 will be compressed, and the pressure sensing plate 26 in contact with the counterweight ring 22 will detect a certain pressure. The more severe the deformation of the connecting rod 7, the greater the tilt angle of the end effector 6, and the greater the pressure detected by the corresponding pressure sensing plate 26.Since the three pressure sensing plates 26 are all arranged in a 120-degree arc and form a ring, each pressure sensing plate 26 corresponds to a driven arm 5. When the pressure sensing plate 26 detects pressure, it indicates that one or two connecting rods 7 on the corresponding driven arm 5 have deformed. This will control the corresponding double-headed cylinder 20 to extend to the corresponding extent, pushing the first ball head 10 towards the first ball socket 8, increasing the preload of the corresponding ball joint, and reducing the vibration of the end effector 6 caused by the deformation of the connecting rod 7. Furthermore, since the first ball head 10 and the first ball socket 8 connect the driving arm 4 and the driven arm 5... The boom 5, used to transmit torque, increases its preload to improve overall system rigidity and reduce vibration. Simultaneously, the extension of both ends of the double-ended cylinder 20 is adjusted according to the force application position of the pressure sensor 26. If the pressure sensor 26 is closer to the edge, it indicates a larger length difference between the two connecting rods 7, meaning the connecting rod 7 closer to the pressure sensor 26 has greater deformation. Therefore, the extension of the double-ended cylinder 20 on the corresponding side will be increased, increasing the preload of the corresponding ball joint and preventing excessive force on the ball joint of the undeformed connecting rod 7, thus increasing its wear.

[0022] Furthermore, each active arm 4 has a cover plate 29 rotatably mounted on both sides of its end for limiting the first ball socket 8. Each cover plate 29 is configured as an arc shape that matches the outer wall of the first ball socket 8. Several arc-shaped blocks 30 for reducing friction are fixedly mounted on the inner wall of each cover plate 29. Wedge blocks 31 are fixedly mounted on both sides of each cover plate 29. Each active arm 4 has a slot 32 on the outer wall of both sides of its end for limiting the wedge blocks 31. Each wedge block 31 is made of elastic material, and the thrust required for the deformation of the wedge block 31 is greater than the elastic force of the disc spring 19. When the double-headed cylinder 20 pushes the first ball head 10, the wedge block 31 is limited by the slot 32, which in turn limits the cover plate 29 to the first ball socket 8, increasing the preload between the first ball head 10 and the first ball socket 8. At the same time, during the rotation of the first ball socket 8, its outer wall contacts the arc block 30, avoiding contact with the entire inner wall of the cover plate 29, reducing friction. Furthermore, the cover plate 29 does not hinder the three-dimensional rotation of the first ball socket 8. When disassembling or assembling the first ball socket 8, the wedge block 31 can be manually pried open to make it snap into the slot 32 or pulled out of the slot 32, facilitating the disassembly or assembly of the first ball socket 8.

[0023] Specifically, when the robotic arm is working, three motors 3 drive the corresponding active arms 4 to rotate at different angles, raising the ends of the driven arms 5 to different heights. The end effector 6 is pulled by the three driven arms 5 to perform three-dimensional motion. The corresponding first ball head 10 and second ball head 11 rotate three-dimensionally within the corresponding first ball socket 8 and second ball socket 9, respectively, allowing the end effector 6 to move to any height and position within a certain range, facilitating the robotic arm to pick up and place objects. During the movement of the link 7, the two ends of the telescopic sleeve 13 will rotate in a single plane within the corresponding arc groove 14 to prevent relative rotation or angular deviation between the two links 7 from maintaining the parallelogram state. Furthermore, when the end effector 6 collides and the lower end of the link 7 is subjected to force... Spring 15 acts as a buffer. Simultaneously, when connecting rod 7 moves, multiple telescopic sleeves 13 rotate synchronously between the two connecting rods 7. The rotating seat 33 and reinforcing rod 34 also rotate relative to each other, ensuring that the two reinforcing rods 34 remain parallel to their corresponding connecting rods 7. The two reinforcing rods 34 reinforce both ends of the telescopic sleeves 13, ensuring consistent rotation at both ends and improving support between the two connecting rods 7. When connecting rod 7 deforms, the deformed end of the telescopic sleeve 13 will no longer align with the undeformed end. The reinforcing rod 34 will also deform under the influence of the rotating seat 33, and the indicator bar 35 will no longer maintain a vertical alignment. The operator can then observe the indicator bar... The indicator bar 35 determines the deformation of the corresponding link 7. When link 7 deforms, the lengths of multiple links 7 are no longer consistent, and the end effector 6 will no longer maintain balance and will tilt towards the deformed side. The weight of the counterweight ring 22 will keep it balanced. The telescopic rod 25 on the tilted side of the end effector 6 will extend, and the telescopic rod 25 on the opposite side will shorten. The corresponding magnetic bead 24 will rotate accordingly in the spherical groove 23. At the same time, the pressure sensing plate 26 will tilt accordingly with the end effector 6 and be limited by the counterweight ring 22. Multiple pressure sensing plates 26 will move upward together with the end effector 6, the elastic rod 27 will be compressed, and the pressure sensing plate 26 in contact with the counterweight ring 22 will detect a certain pressure. The more severe the deformation of the link 7, the more the end effector... The greater the tilt angle of device 6, the greater the pressure detected by the pressure sensing plate 26. This controls the extension of the corresponding double-headed cylinder 20 by a corresponding amount, pushing the first ball head 10 towards the first ball socket 8, increasing the preload of the corresponding ball joint, and reducing the vibration of the end effector 6 caused by the deformation of the connecting rod 7. Since the first ball head 10 and the first ball socket 8 connect the driving arm 4 and the driven arm 5 to transmit torque, increasing its preload further improves the overall rigidity of the system and reduces vibration. At the same time, the extension of both ends of the double-headed cylinder 20 is adjusted according to the force position of the pressure sensing plate 26. If the force position of the pressure sensing plate 26 is closer to the edge, it indicates that the length difference between the two connecting rods 7 is greater, indicating that the connecting rod 7 closer to the force position of the pressure sensing plate 26 has a larger deformation.This increases the extension of the double-ended cylinder 20 on the corresponding side, increasing the preload of the corresponding ball joint. This prevents excessive force from being applied to the ball joint of the undeformed connecting rod 7, thus increasing its wear. When the double-ended cylinder 20 pushes the first ball head 10, the cover plate 29 limits the first ball socket 8, increasing the preload between the first ball head 10 and the first ball socket 8. Simultaneously, during the rotation of the first ball socket 8, its outer wall contacts the arc-shaped block 30, avoiding contact with the entire inner wall of the cover plate 29 and reducing friction.

[0024] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0025] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent desktop robotic arm, comprising a support (1), characterized in that: A control box (2) is fixedly installed on the bracket (1). Three motors (3) are fixedly installed on the control box (2). An active arm (4) is fixedly installed at the output end of each motor (3). A driven arm (5) is movably installed at one end of each active arm (4). An end effector (6) is provided below the control box (2). The lower end of each driven arm (5) is movably connected to the end effector (6). Each driven arm (5) consists of two connecting rods (7), and the two connecting rods (7) are always arranged in a parallelogram. Each connecting rod (7) is fixedly installed with a connecting seat (12). A telescopic sleeve (13) is provided between each pair of corresponding connecting seats (12). An arc groove (14) is provided on one side of each connecting seat (12). Both ends of each telescopic sleeve (13) are set into an arc shape corresponding to the arc groove (14). A spring (15) is fixedly connected between the inner walls of both ends of each telescopic sleeve (13). An arc-shaped guide groove (16) is provided on the inner wall of each arc groove (14). A limiting block (17) that cooperates with the guide groove (16) is fixedly installed at both ends of each telescopic sleeve (13). Each of the connecting rods (7) has a first ball socket (8) and a second ball socket (9) fixedly installed at its upper and lower ends respectively. Each of the active arms (4) has a first ball head (10) on both sides of its end that cooperates with the first ball socket (8). The end effector (6) has several second ball heads (11) that cooperate with the second ball socket (9) fixedly installed on its end effector (6). Each of the active arms (4) has a double-headed cylinder (20) fixedly installed inside one end, and a connecting plate (18) fixedly installed at one end of each of the first ball heads (10). The two output ends of each double-headed cylinder (20) abut against one side of the corresponding connecting plate (18). A number of disc springs (19) are arranged between the other side of each connecting plate (18) and the inner wall of the active arm (4). The disc springs (19) are arranged in a cross-shaped pattern.

2. The intelligent desktop robotic arm according to claim 1, characterized in that: The end effector (6) is provided with an annular groove (21), and a counterweight ring (22) is provided in the annular groove (21). The lower end of the counterweight ring (22) is provided with a number of spherical grooves (23). The spherical grooves (23) are arranged in a circle, and each spherical groove (23) is provided with a magnetic bead (24). Each magnetic bead (24) is fixedly connected to the inner wall of the annular groove (21) with a telescopic rod (25).

3. The intelligent desktop robotic arm according to claim 2, characterized in that: The annular groove (21) is provided with three pressure sensing plates (26) for controlling the operation of the corresponding double-headed cylinder (20). Each pressure sensing plate (26) is fixedly connected to the inner wall of the top of the annular groove (21) with an elastic rod (27). Each pressure sensing plate (26) is arranged in a 120-degree arc and is located above the counterweight ring (22). The three pressure sensing plates (26) are fixedly connected to each other and form a ring.

4. The intelligent desktop robotic arm according to claim 1, characterized in that: Each of the active arms (4) has a cover plate (29) rotatably mounted on both sides of its end for limiting the first ball socket (8). Each cover plate (29) is configured as an arc shape that matches the outer wall of the first ball socket (8). Several arc-shaped blocks (30) for reducing friction are fixedly mounted on the inner wall of each cover plate (29).

5. The intelligent desktop robotic arm according to claim 4, characterized in that: Each of the cover plates (29) has a wedge block (31) fixedly installed on both sides. Each of the active arms (4) has a slot (32) on the outer wall of both sides for limiting the wedge block (31). Each wedge block (31) is made of elastic material, and the thrust required for the deformation of the wedge block (31) is greater than the elastic force of the disc spring (19).

6. The intelligent desktop robotic arm according to claim 3, characterized in that: An electromagnetic ring (28) is fixedly installed at the bottom of the annular groove (21). When the electromagnetic ring (28) is energized, its magnetism attracts the magnetic bead (24), and the magnetic attraction between the electromagnetic ring (28) and the magnetic bead (24) is greater than the elastic force of the telescopic rod (25).

7. The intelligent desktop robotic arm according to claim 1, characterized in that: Each telescopic sleeve (13) has a rotating seat (33) fixedly installed at both ends, and two reinforcing rods (34) are provided between each pair of corresponding connecting rods (7). Each rotating seat (33) is rotatably connected to the corresponding reinforcing rod (34).

8. The intelligent desktop robotic arm according to claim 7, characterized in that: Each of the reinforcing rods (34) is fixedly equipped with several indicator bars (35) for displaying deformation, and the indicator bars (35) are arranged vertically in a straight line.

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