A multi joint modular robot arm comprising:
- multiple joint modules connected in series, and each joint module having
- a base having
- a central axis defined in the base;
- an X axial direction;
- a Y axial direction perpendicular to the X axial direction;
- a Z axial direction perpendicular to the X axial direction and the Y axial direction;
- and
- a direction of the central axis being the Z axial direction;
- a motion mechanism disposed on the base and having a motion element, a first transmitting assembly, and a second transmitting assembly, and the first transmitting assembly and the second transmitting assembly disposed on the base in parallel and connected to the motion element, and
- the motion element having
- a motion part having a connecting rod portion, and the connecting rod portion having a connecting end;
- an X axial rod disposed through the connecting end of the connecting rod portion;
- a Y axial rod disposed through the connecting end of the connecting rod portion;
- the first transmitting assembly having
- a first transmitting member having an end pivotally connected to a first linear moving member;
- and
- a second transmitting member having
- two ends pivotally connected to another end of the first transmitting member and the X axial rod respectively, wherein the X axial rod is a fulcrum, and the motion part is rotated along the Y axial direction by the first transmitting assembly;
- the second transmitting assembly having a first rod, a second rod, and a third rod, an end of the first rod pivotally connected to a second linear moving member, two ends of the second rod pivotally connected to another end of the first rod and an end of the third rod respectively, and another end of the third rod pivotally connected to the Y axial rod, wherein the Y axial rod is a fulcrum, and the motion part is rotated along the X axial direction by the second transmitting assembly;
- and
- the motion mechanism having a motion seat, the motion seat rotated along the X axial direction and disposed on the base, an end of the motion seat at the Y axial direction connected to an X axial pivoting component for pivoting the second transmitting member, another end of the motion seat at the Y axial direction connected to a Y axial pivoting component for pivoting the second rod, and a pivoted portion between the motion seat and the second rod located beside a pivoted portion between the first rod and the second rod;
- wherein the motion element is driven for having a spherical movement centered on the central axis of the base;
- a linear driving mechanism disposed on the base and having a first linear driving assembly and a second linear driving assembly, and the first linear driving assembly and the second linear driving assembly being non-coaxial and disposed on the base in parallel, and
- the first linear driving assembly having
- the first linear moving member connected to the first transmitting assembly;
- and
- a first screw assembly connected to the first linear moving member, wherein the first linear moving member is driven by the first screw assembly to reciprocate along the central axis;
- and
- the second linear driving assembly having
- the second linear moving member connected to the second transmitting assembly;
- and
- a second screw assembly connected to the second linear moving member, wherein the second linear moving member is driven by the second screw assembly to reciprocate along the central axis;
- a driving motor assembly disposed on the base and having a first motor having a first output rod and a second motor having a second output rod;
- and
- a transmission disposed between the linear driving mechanism and the driving motor assembly, the transmission having
- a first wheel transmitting assembly connected to the first output rod of the driving motor assembly and the first linear driving assembly;
- and
- a second wheel transmitting assembly connected to the second output rod of the driving motor assembly and the second linear driving assembly;
- and
- each two joint modules connected in series, and the base of one of said two joint modules connected to the motion element of another one of said two joint modules.