Multi-degree-of-freedom gravity compensation robot

Abstract

A multi-degree-of-freedom gravity compensation robot comprises a mounting base, a mechanical arm mounted on the mounting base, the mechanical arm comprising a base arm and an operating arm connected with each other in rotation, the base arm and the operating arm each comprising a plurality of shaft bodies connected in sequence along an axial direction thereof, each shaft body corresponding to a degree of freedom, and each shaft body further being drivingly connected with a driving device; a limiting assembly is arranged at a connection between the base arm and the operating arm, for limiting a rotation angle between the base arm and the operating arm, preventing the mechanical arm from being damaged due to overlarge action or surrounding equipment; a gravity compensation module is further arranged at the base arm, effectively balancing the gravity of the mechanical arm, significantly improving the stability of the mechanical arm in operation, and reducing the power of the driving device in operation; a controller is further included, the controller being signal-connected with each driving device, the controller controlling the movement of each shaft body by controlling each driving device, realizing multi-degree-of-freedom adjustment of the mechanical arm, and improving the operation precision, flexibility and safety of the mechanical arm.

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