Multi-degree-of-freedom desktop mechanical arm

Abstract

The utility model provides a multi-degree-of-freedom desktop mechanical arm which is characterized in that a control box comprises a shell and a bottom plate, the shell and the bottom plate form an installation space, and a controller is arranged in the installation space; the supporting seat assembly comprises a supporting seat and a hollow shaft, the hollow shaft is installed on the shell, and an axial through hole is formed in the hollow shaft; the supporting seat is rotationally supported on the control box through the hollow shaft; the first driver is arranged in the mounting space, the second driver and the third driver are arranged on the supporting seat, the first driver drives the supporting seat to rotate around the hollow shaft, and cables of the second driver and the third driver are connected with the controller through the axial through hole. The multi-degree-of-freedom desktop mechanical arm is simple in structure, convenient to install and smaller in size; excessive exposed outer wires can be reduced, and meanwhile unnecessary cable winding of the connecting wires in the working process of the mechanical arm is prevented.

Description

Technical Field

[0001] The utility model belongs to the field of mechanical arms, and in particular relates to a multi-degree-of-freedom desktop mechanical arm. Background Art

[0002] With the rapid development of modern science and technology, the robotic arm industry is developing more and more rapidly, and is increasingly used in factory automation production. Industrial robotic arm technology is becoming more and more mature, but due to the large size and dangerous operation of industrial robotic arms, they are not suitable for use in schools and homes.

[0003] There are some desktop robotic arms in the prior art. Due to their small size, they can meet the needs of education, life, light industry and other fields for robotic arms. However, the desktop robotic arms in the prior art still have problems such as complex structure and difficult installation. Due to unreasonable structural design, desktop robotic arms still have a series of problems such as large size, low working accuracy, and inconvenient use. Utility Model Content

[0004] In order to solve at least one of the above technical problems, the technical solution adopted by the utility model is to provide a multi-degree-of-freedom desktop mechanical arm, which has a simple structure and reasonable wiring; it is easy to install, has a small size, and is easy to process and manufacture.

[0005] In order to achieve at least one of the above purposes, the technical solution adopted by the utility model is:

[0006] The utility model provides a multi-degree-of-freedom desktop robotic arm, comprising a control box assembly, a support base assembly and a driver assembly; the control box assembly comprises a control box and a controller, the control box comprises a shell and a base plate, the shell and the base plate form an installation space, and the controller is arranged in the installation space; the support base assembly comprises a support base and a hollow shaft, the hollow shaft is installed on the shell, and the hollow shaft is provided with an axial through hole; the support base is rotatably supported on the control box by the hollow shaft; the driver assembly comprises a first driver, a second driver and a third driver, the first driver is arranged in the installation space, the second driver and the third driver are arranged on the support base, the first driver drives the support base to rotate around the hollow shaft, and the cables of the second driver and the third driver are connected to the controller through the axial through hole.

[0007] Furthermore, a first hole is provided on the shell, one end of the hollow shaft is installed on the shell through a flange, and the other end of the hollow shaft is provided with a connecting thread; a first bearing, a shaft ring, a second bearing and a cap are provided on the hollow shaft in sequence through a shaft shoulder; the cap is provided with an internal thread, and the internal thread cooperates with the connecting thread to fix the first bearing, shaft ring and second bearing on the hollow shaft.

[0008] Furthermore, the drive assembly also includes a first synchronous belt transmission component; the first synchronous belt transmission component includes a first large synchronous belt pulley, a first small synchronous belt pulley and a first synchronous belt; the first large synchronous belt pulley is coaxially arranged with the first bearing, and the first large synchronous belt pulley is rotatably supported on the first bearing.

[0009] Furthermore, the support seat assembly also includes a first connecting member, which is arranged above the first large synchronous pulley, and the support seat is arranged above the first connecting member; the first large synchronous pulley, the first connecting member and the support seat are fixed as a whole by screws, annularly arranged on the hollow shaft, and rotatably supported on the first bearing to rotate around the hollow shaft; the support seat includes a bottom wall and side walls on both sides, presenting an open semi-enclosed structure; a bearing mounting hole is also arranged on the bottom wall, and the second bearing is arranged in the bearing mounting hole.

[0010] Furthermore, a second hole is provided above the shell, and the first driver is mounted on the shell and arranged in the installation space; the part of the driving shaft of the first driver extending out of the second hole is provided with the first small synchronous pulley, and the first small synchronous pulley and the first large synchronous pulley are connected through the first synchronous belt transmission; the first driver drives the support seat to rotate through the first synchronous belt transmission component; a first protrusion is provided below the first large synchronous pulley, and a first limit member is provided on the shell, and a first mechanical limit is formed between the first protrusion and the first limit member.

[0011] Furthermore, a support shaft is provided between the two side walls; the second driver and the third driver are symmetrically mounted on the two side walls respectively; the driving shafts of the second driver and the third driver are parallel to the support shaft and are staggered up and down relative to the horizontal plane.

[0012] Furthermore, it also includes a boom assembly, which includes a boom and a boom driving wheel, one end of the boom is fixedly connected to the boom driving wheel by screws, and is rotatably supported together on one end of the support shaft; a second protrusion is also provided at one end of the boom, and a second mechanical limit is formed between the second protrusion and a second stop member provided at the end of the driving shaft of the second driver.

[0013] Furthermore, it also includes a forearm assembly, which includes a forearm, a forearm driving wheel, a driving crank and a forearm driving rod; the forearm is connected to the upper arm, one end of the forearm is connected to one end of the forearm driving rod, and the other end of the forearm driving rod is hinged to the driving crank; the driving crank and the forearm driving wheel are fixedly connected by screws, and are rotatably supported together at the other end of the support shaft; a stop mouth is provided at the end of the driving crank, and a third mechanical limit is formed between the stop mouth and the third stop member provided at the end of the driving shaft of the third driver.

[0014] Furthermore, it also includes an end-effector assembly, which includes an end base and a cover body; the end base is hinged to the other end of the forearm; the drive assembly also includes a fourth drive; the fourth drive is installed on the end base and is sealed by the cover body.

[0015] Furthermore, the first degree of freedom, the second degree of freedom and the third degree of freedom of the multi-degree-of-freedom desktop robotic arm are all provided with industrial-grade slot-type photoelectric sensors.

[0016] The utility model provides a multi-degree-of-freedom desktop mechanical arm. Compared with the prior art, the utility model has the following beneficial effects:

[0017] The multi-degree-of-freedom desktop robotic arm provided by the utility model has a first driver arranged inside a control box and an offset design relative to the rotation axis of the first degree of freedom of the robotic arm, which can reduce space occupancy and further reduce the volume of the robotic arm.

[0018] The multi-degree-of-freedom desktop robotic arm provided by the utility model has a hollow shaft arranged at the rotation axis of the first degree of freedom of the robotic arm, and the drive cables of the second driver and the third driver can both pass through the axial through hole of the hollow shaft to be connected to the controller. This arrangement can prevent the drive cables of the second driver and the third driver from being unnecessary entangled when the robotic arm rotates in the first degree of freedom, thereby improving the reliability of the robotic arm; at the same time, it can achieve the effect of hiding the wiring, further enhancing the beautiful visual effect of the robotic arm.

[0019] The multi-degree-of-freedom desktop mechanical arm provided by the utility model has industrial-grade slot-type photoelectric sensors in the first degree of freedom, the second degree of freedom and the third degree of freedom, and the mechanical arm has higher precision. The driving shafts of the second driver and the third driver are parallel to the supporting shaft and are arranged in an up-down offset relative to the horizontal plane; and the large arm is provided with a first protrusion, and the small arm is provided with a stopper at the end of the driving crank, and the mechanical limit effect is achieved through its own structure, and the structure is simple.

[0020] It should be understood that the above general description and the following detailed description are only exemplary and explanatory and cannot limit the protection scope of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of the multi-degree-of-freedom desktop robotic arm provided by the utility model;

[0022] Figure 2 A schematic diagram of the internal structure of the control box assembly and the support base assembly provided by the utility model;

[0023] Figure 3 A schematic diagram of the structure of the control box assembly provided by the utility model;

[0024] Figure 4 A schematic diagram of the structure of the control box assembly and part of the driver assembly provided by the utility model;

[0025] Figure 5 A schematic diagram of the structure of the multi-degree-of-freedom desktop mechanical arm provided by the utility model without a control box assembly;

[0026] Figure 6 A partial structural schematic diagram of a large arm assembly and a small arm assembly provided by the utility model;

[0027] Figure 7 A schematic structural diagram of the multi-degree-of-freedom desktop mechanical arm provided by the utility model without a control box assembly from another perspective;

[0028] Among them, 1 control box assembly, 1-1 control box, 1-11 shell, 1-110 first hole, 1-111 second hole, 1-12 bottom plate, 1-13 controller, 1-14 first limiter, 2 support seat assembly, 2-1 support seat, 2-10 bottom wall, 2-11 side wall, 2-2 hollow shaft, 2-3 first bearing, 2-4 shaft ring, 2-5 second bearing, 2-6 cap, 2-7 first connecting piece, 2-9 support shaft, 2-12 first protrusion, 3 drive assembly, 3-1 first drive, 3-2 first synchronous belt transmission component, 3-20 first large synchronous belt pulley, 3-2 1 the first small synchronous pulley, 3-22 the first synchronous belt, 3-3 the second driver, 3-31 the second stopper, 3-4 the third driver, 3-41 the third stopper, 3-5 the fourth driver, 4 the upper arm assembly, 4-1 the upper arm, 4-10 the second protrusion, 4-2 the upper arm driving wheel, 5 the small arm assembly, 5-1 the small arm, 5-2 the small arm driving wheel, 5-3 the driving crank, 5-31 the stopper, 5-4 the small arm driving rod, 6 the end actuator assembly, 6-1 the end base, 6-2 the cover body, 6-3 the second connecting rod, 7 the connecting rod assembly, 7-1 the first connecting rod, 7-2 the connecting piece, 7-3 the second connecting rod. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described in detail below in conjunction with specific embodiments. Please note that the embodiments described below are exemplary and are only used to explain the utility model, and cannot be understood as limiting the utility model. If no specific technology or conditions are specified in the embodiments, the technology or conditions described in the literature in the field or the product manual shall be followed.

[0030] In the description of the present utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The multi-degree-of-freedom desktop robotic arm provided by the present invention will be described in detail below through specific embodiments:

[0033] like Figure 1-7 As shown, the mechanical arm provided by the utility model includes: a control box assembly 1, a support base assembly 2, a driver assembly 3, a large arm assembly 4, a small arm assembly 5, an end execution assembly 6 and a connecting rod assembly 7 and other main components.

[0034] The control box assembly 1 includes a control box 1-1; the control box 1-1 includes a shell 1-11 and a bottom plate 1-12. A controller 1-13 is arranged in the installation space formed by the shell and the bottom plate, and the controller 1-13 is arranged on the bottom plate. Ports such as a power interface, a data interface and an expansion port are arranged on the side wall of the shell. Control buttons such as a power switch, a reset switch, etc. are also arranged on the shell, and the control buttons are all communicated with the controller 1-13.

[0035] The support seat assembly 2 includes a support seat 2-1, a hollow shaft 2-2 and other parts. The support seat 2-1 is rotatably supported above the shell through the hollow shaft 2-2.

[0036] A first hole 1-110 is provided above the housing 1-11. One end of the hollow shaft 2-2 is mounted at the first hole 1-110 of the housing 1-11 through a flange; the other end of the hollow shaft 2-2 is provided with a connecting thread. The hollow shaft 2-2 is provided with a first bearing 2-3, a shaft collar 2-4, a second bearing 2-5 and a cap 2-6 which are abutted against each other from bottom to top through a shaft shoulder. The cap 2-6 is provided with an internal thread, which cooperates with the connecting thread of the hollow shaft to fix the first bearing 2-3, the shaft collar 2-4 and the second bearing 2-5 on the hollow shaft 2-2.

[0037] The drive assembly 3 includes a first drive 3-1 and a first synchronous belt transmission component 3-2; the first synchronous belt transmission component 3-2 includes a first large synchronous pulley 3-20, a first small synchronous pulley 3-21 and a first synchronous belt 3-22.

[0038] The first large synchronous pulley 3 - 20 is coaxially arranged on the first bearing 2 - 3 ; the first large synchronous pulley 3 - 20 is rotatably supported on the first bearing 2 - 3 .

[0039] The support seat assembly 2 also includes a first connecting member 2-7. The first connecting member 2-7 is arranged above the first large synchronous pulley 3-20, and the support seat 2-1 is arranged above the first connecting member 2-7. The first large synchronous pulley 3-20, the first connecting member 2-7 and the support seat 2-1 are fixedly connected as a whole by screws, and are arranged around the hollow shaft. The three are rotatably supported on the first bearing 2-3 as a whole, and can rotate around the hollow shaft 2-2 together.

[0040] The support seat 2-1 includes a bottom wall 2-10 and side walls 2-11 on both sides, presenting an open semi-enclosed structure. A bearing mounting hole is also provided on the bottom wall 2-10, and the second bearing 2-5 is provided in the bearing mounting hole. A support shaft 2-9 is also provided between the two side walls 2-11.

[0041] A second hole 1-111 is also provided above the shell 1-11. The first driver 3-1 is installed at the second hole 1-111 of the shell and is provided in the installation space. A first small synchronous pulley 3-21 is provided on the portion of the driving shaft of the first driver 3-1 extending out of the second hole 1-111. The first small synchronous pulley 3-21 and the first large synchronous pulley 3-20 are connected by a first synchronous belt 3-22. The first driver 3-1 drives the support seat 2-1 to rotate through the first synchronous belt transmission component 3-2, thereby realizing the movement of the first degree of freedom of the robot arm.

[0042] A first protruding member 2-12 is connected to the first large synchronous pulley 3-20 by screws. A first limiting member 1-14 is provided on the housing, and a first mechanical limit is formed between the first protruding member 2-12 and the first limiting member 1-14 to limit the movement of the first degree of freedom of the mechanical arm.

[0043] The driver assembly also includes a second driver 3-3 and a third driver 3-4. The second driver 3-3 and the third driver 3-4 are symmetrically mounted on the two side walls 2-11 of the support seat 2-1. The driving axes of the second driver 3-3 and the third driver 3-4 are parallel to the support axis 2-9 and are arranged in an up-down staggered manner relative to the horizontal plane.

[0044] The driving cables of the second driver 3-3 and the third driver 3-4 are both connected to the controller 1-13 through the hole of the hollow shaft. Such an arrangement can prevent the driving cables of the second driver 3-3 and the third driver 3-4 from being unnecessary entangled when the robot arm rotates in the first degree of freedom, thereby improving the reliability of the robot arm.

[0045] The boom assembly 4 includes a boom 4-1 and a boom drive wheel 4-2. One end of the boom 4-1 and the boom drive wheel 4-2 are fixedly connected by screws and are rotatably supported together on one end of the support shaft 2-9. The boom drive wheel 4-2 is connected to the second driver 3-3 through a synchronous belt transmission device, and the second driver 3-3 drives the boom 4-1 to rotate around the support seat 2-1, thereby realizing the movement of the second degree of freedom of the robot arm.

[0046] A second protrusion 4-10 is also provided at one end of the upper arm 4-1 connected to the upper arm driving wheel 4-2. A second mechanical limit is formed between the second protrusion 4-10 and a second stopper 3-31 provided at the end of the driving shaft of the second driver 3-3 to limit the movement of the second degree of freedom of the mechanical arm.

[0047] The forearm assembly 5 includes a forearm 5-1, a forearm driving wheel 5-2, a driving crank 5-3 and a forearm driving rod 5-4. The forearm 5-1 is linked to the upper arm 4-1, and the end of the forearm near the hinge position is linked to one end of the forearm driving rod 5-4, and the other end of the forearm driving rod 5-4 is hinged to the driving crank 5-3. The driving crank 5-3 is fixedly connected to the forearm driving wheel 5-2 by screws, and is supported for rotation together at the other end of the support shaft 2-9. The forearm driving wheel 4-2 is connected to the third driver 3-4 through a synchronous belt transmission device, and the third driver 3-4 drives the forearm 5-1 to rotate around the upper arm 4-1 through the above transmission, thereby realizing the movement of the third degree of freedom of the robot arm.

[0048] A stop opening 5-31 is provided at the end of the driving crank 5-3, and a third mechanical limit is formed between the stop opening 5-31 and a third stop member 3-41 provided at the end of the driving shaft of the third driver 3-4 to limit the movement of the third degree of freedom of the robotic arm.

[0049] The end effector assembly 6 includes an end base 6-1 and a cover 6-2; the end base 6-1 is hinged to the other end of the forearm 5-1. The driver assembly also includes a fourth driver 3-5; the fourth driver 3-5 is installed on the end base 6-1 and is sealed by the cover 6-2. The fourth driver 3-5 drives the fixture to rotate to achieve the fourth degree of freedom of the robot arm. The fourth axis driver 3-5 is preferably a motor with a self-reset function.

[0050] The connecting rod assembly 7 includes components such as a first connecting rod 7-1, a connecting member 7-2, and a second connecting rod 7-3. One end of the first connecting rod 7-1 is hinged to the side wall 2-11, and the other end is hinged to the connecting member 7-2. The connecting member 7-2 is hingedly arranged on the rotation axis of the small arm 5-1 around the upper arm 4-1. The connecting lines between the upper arm 4-1, the first connecting rod 7-1, the side wall 2-11, and the four hinge points of the connecting member 7-2 form a first parallelogram mechanism. One end of the second connecting rod 7-3 is hinged to the connecting member 7-2, and the other end is hinged to the terminal base 6-1. The connecting lines between the small arm 5-1, the second connecting rod 7-3, the connecting member 7-2, and the four hinge points of the terminal base 6-1 form a second parallelogram mechanism.

[0051] Two parallelogram mechanisms are used between the upper arm assembly 5, the lower arm assembly 4, the end actuator assembly 6 and the connecting rod assembly 7 to ensure that the end base 6-1 is in a horizontal position during the movement; and during the movement until the robot reaches the extreme position, the above-mentioned connecting rods will not interfere with the arm body.

[0052] The multi-degree-of-freedom desktop robotic arm provided by the utility model has a first driver arranged inside a control box and an offset design relative to the rotation axis of the first degree of freedom of the robotic arm, which can reduce space occupancy and further reduce the volume of the robotic arm.

[0053] The multi-degree-of-freedom desktop robotic arm provided by the utility model has a hollow shaft arranged at the rotation axis of the first degree of freedom of the robotic arm, and the drive cables of the second driver and the third driver can both pass through the axial through hole of the hollow shaft to be connected to the controller. This arrangement can prevent the drive cables of the second driver and the third driver from being unnecessary entangled when the robotic arm rotates in the first degree of freedom, thereby improving the reliability of the robotic arm; at the same time, it can achieve the effect of hiding the wiring, further enhancing the beautiful visual effect of the robotic arm.

[0054] The multi-degree-of-freedom desktop mechanical arm provided by the utility model has industrial-grade slot-type photoelectric sensors in the first degree of freedom, the second degree of freedom and the third degree of freedom, and the mechanical arm has higher precision. The driving shafts of the second driver and the third driver are parallel to the supporting shaft and are arranged in an up-down offset relative to the horizontal plane; and the large arm is provided with a first protrusion, and the small arm is provided with a stopper at the end of the driving crank, and the mechanical limit effect is achieved through its own structure, and the structure is simple.

[0055] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

Claims

1. A multi-degree-of-freedom desktop robotic arm, comprising a control box assembly, a support seat assembly and a driver assembly; characterized in that: The control box assembly includes a control box and a controller, the control box includes a shell and a bottom plate, the shell and the bottom plate form an installation space, and the controller is arranged in the installation space; the support seat assembly includes a support seat and a hollow shaft, the hollow shaft is installed on the shell, and the hollow shaft is provided with an axial through hole; the support seat is rotatably supported on the control box through the hollow shaft; The drive assembly includes a first drive, a second drive and a third drive, the first drive is arranged in the installation space, the second drive and the third drive are arranged on the support base, the first drive drives the support base to rotate around the hollow shaft, and the cables of the second drive and the third drive are connected to the controller through the axial through hole.

2. The multi-degree-of-freedom desktop robotic arm according to claim 1, characterized in that: The shell is provided with a first hole, one end of the hollow shaft is installed on the shell through a flange, and the other end of the hollow shaft is provided with a connecting thread; the hollow shaft is provided with a first bearing, a shaft ring, a second bearing and a cap in sequence through a shaft shoulder; the cap is provided with an internal thread, and the internal thread cooperates with the connecting thread to fix the first bearing, the shaft ring and the second bearing on the hollow shaft.

3. The multi-degree-of-freedom desktop robotic arm according to claim 2, characterized in that: The drive assembly also includes a first synchronous belt transmission component; the first synchronous belt transmission component includes a first large synchronous belt pulley, a first small synchronous belt pulley and a first synchronous belt; the first large synchronous belt pulley is coaxially arranged with the first bearing, and the first large synchronous belt pulley is rotatably supported on the first bearing.

4. The multi-degree-of-freedom desktop robotic arm according to claim 3, characterized in that: The support seat assembly also includes a first connecting piece, which is arranged above the first large synchronous pulley, and the support seat is arranged above the first connecting piece; the first large synchronous pulley, the first connecting piece and the support seat are fixedly connected as a whole by screws, are ring-arranged on the hollow shaft, and are rotatably supported on the first bearing to rotate around the hollow shaft; the support seat includes a bottom wall and side walls on both sides, presenting an open semi-enclosed structure; a bearing mounting hole is also arranged on the bottom wall, and the second bearing is arranged in the bearing mounting hole.

5. The multi-degree-of-freedom desktop robotic arm according to claim 4, characterized in that: A second hole is also provided above the shell, and the first driver is mounted on the shell and arranged in the installation space; the first small synchronous belt pulley is provided on the part of the driving shaft of the first driver extending out of the second hole, and the first small synchronous belt pulley and the first large synchronous belt pulley are connected through the first synchronous belt transmission; the first driver drives the support seat to rotate through the first synchronous belt transmission component; a first protrusion is provided below the first large synchronous belt pulley, and a first limiting member is provided on the shell, and a first mechanical limit is formed between the first protrusion and the first limiting member.

6. The multi-degree-of-freedom desktop robotic arm according to claim 5, characterized in that: A support shaft is also arranged between the two side walls; the second driver and the third driver are symmetrically mounted on the two side walls respectively; the driving shafts of the second driver and the third driver are parallel to the support shaft and are arranged in an up-down staggered manner relative to the horizontal plane.

7. The multi-degree-of-freedom desktop robotic arm according to claim 6, characterized in that: It also includes a boom assembly, which includes a boom and a boom driving wheel. One end of the boom is fixedly connected to the boom driving wheel by screws, and is rotatably supported together at one end of the support shaft. A second protrusion is also provided at one end of the boom, and a second mechanical limit is formed between the second protrusion and a second stop member provided at the end of the driving shaft of the second driver.

8. The multi-degree-of-freedom desktop robotic arm according to claim 7, characterized in that: It also includes a forearm assembly, which includes a forearm, a forearm driving wheel, a driving crank and a forearm driving rod; the forearm is connected to the upper arm, one end of the forearm is connected to one end of the forearm driving rod, and the other end of the forearm driving rod is hinged to the driving crank; the driving crank and the forearm driving wheel are fixedly connected by screws, and are rotatably supported together at the other end of the support shaft; a stop opening is provided at the end of the driving crank, and a third mechanical limit is formed between the stop opening and a third stop member provided at the end of the driving shaft of the third driver.

9. The multi-degree-of-freedom desktop robotic arm according to claim 8, characterized in that: It also includes an end execution component, which includes an end base and a cover body; the end base is hinged to the other end of the forearm; the drive component also includes a fourth drive; the fourth drive is installed on the end base and is sealed by the cover body.

10. The multi-degree-of-freedom desktop robotic arm according to claim 9, characterized in that: The first degree of freedom, the second degree of freedom and the third degree of freedom of the multi-degree-of-freedom desktop robotic arm are all provided with industrial-grade slot-type photoelectric sensors.

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