Hollow series-connection mechanical arm

Abstract

The invention discloses a hollow series-connection mechanical arm. The hollow series-connection mechanical arm comprises a plurality of modularized joints and a base, wherein the rotating end of the first modularized joint is vertically and rotationally connected with the base, the fixed end of the first modularized joint is fixedly connected with the rotating end of the second modularized joint, the fixed end of the second modularized joint is fixedly connected with one end of a first connecting arm, the other end of the first connecting arm is fixedly connected with the fixed end of the third modularized joint, the rotating end of the third modularized joint is fixedly connected with the fixed end of the fourth modularized joint, the rotating end of the fourth modularized joint is fixedly connected with one end of a second connecting arm, the other end of the second connecting arm is fixedly connected with the fixed end of the fifth modularized joint, and the rotating end of the fifth modularized joint is fixedly connected with the fixed end of the sixth modularized joint. The hollow series-connection mechanical arm of the structure is low in self weight, large in weight-power ratio, lower in energy consumption and simple in structure, and the self weight can be reduced easily.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a novel configuration of a hollow series mechanical arm formed by modular joints. Background technique [0002] Robotic arms play an extremely important role in production and life. In practical applications, many industrial process links require robotic arms for assembly and extraction operations. The assembly and disassembly of the existing mechanical arm itself are relatively complicated. Many light and agile robotic arms have been designed to undertake more and more assembly and extraction tasks. However, after the miniaturization design of the robotic arm at this stage is realized, its rated load will be reduced a lot accordingly. The contradiction between the robot's structural size and carrying capacity has become a problem to be coordinated. The motion accuracy, carrying capacity, and motion stability of each joint of the manipulator are affected by the pos...

AI Technical Summary

Problems solved by technology

Part of its transmission structure and part of its cables are exposed outside, which is not conducive to the protection of components. The module itself is still relatively complicated, and it has not achieved the effect of greatly reducing its own weight while keeping the weight unchanged. Moreover, the connection method of the module is single, which is not easy. Conducive to building a robotic arm with a large range of motion

Without braking device, instantaneous braking cannot be realized

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