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Mechanical arm with frame-type extension arm

A technology of extending arms and manipulators, which is applied in the field of manipulators, can solve problems such as limited operating range and range, small grasping weight, and complex structure, and achieve the effect of wide operating range, large grasping weight, and high control precision

Inactive Publication Date: 2012-06-13
ORDNANCE TECH RES INST OF THE GENERAL ARMAMENT DEPT PLA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a manipulator with a frame-type extension arm to solve the problems of the existing high-performance manipulator with complex structure, small grasping weight, and limited operating range and range

Method used

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  • Mechanical arm with frame-type extension arm
  • Mechanical arm with frame-type extension arm
  • Mechanical arm with frame-type extension arm

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Experimental program
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Effect test

Embodiment Construction

[0017] The manipulator of the present invention includes parts such as a support arm, a wrist raising mechanism, a wrist turning mechanism, and a pick-and-place mechanism.

[0018] Such as figure 1 As shown, the wrist lifting mechanism of this manipulator is to hinge a telescopic rod 18 on the support arm 1, the telescopic rod driving mechanism 19 is connected to the rear end of the telescopic rod 18, and the front end of the telescopic rod 18 is hinged to the first connecting rod 9, the first The other end of the connecting rod 9 is connected to the wrist base 5, and the wrist base 5 is hinged to the front end of the support arm 1 through a pin. The telescopic rod driving mechanism 19 adopts a DC brushed servo motor, which controls the extension and retraction of the telescopic rod 18 through the rotation of the motor, and pulls the wrist base 5 through the linked first connecting rod 9 to realize the wrist in the Pitch motion within a certain angle.

[0019] figure 2 Amo...

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Abstract

The invention relates to a mechanism arm with a frame-type extension arm. The mechanism arm comprises a supporting arm, a wrist raising mechanism, a wrist rotation mechanism and a grasping mechanism, wherein the wrist raising mechanism comprises an expansion link hinged on the supporting arm, and the front end of the expansion link is connected with the base of a wrist through a first connecting rod; the wrist rotation mechanism comprises a wrist rotation control motor fixed on the wrist base, and the wrist rotation control motor is engaged with a connecting shaft gear on the wrist base through a driving gear; and the grasping mechanism comprises a grasping control motor fixed in the connecting shaft gear, the grasping control motor is in butt joint with a lead screw, the lead screw is provided with a nut, a connecting disk is fixed on the connecting shaft gear, a finger mechanism is hinged on the connecting disc, and a second connecting rod is hinged between the finger mechanism and the nut. According to the mechanical arm with the frame-type extension arm, more complex grasping movement in a larger space range can be achieved, and the movement is stable and accurate.

Description

technical field [0001] The invention relates to a manipulator, in particular to a manipulator with a shelf-type extension arm. Background technique [0002] In many fields such as industry, national defense, medicine, and public security, robots have been used more and more widely. Robots can replace humans to complete various dangerous, complicated and even incompetent tasks, such as detonation, welding, and handling toxic chemicals. In the entire system of the robot, the manipulator is a key part related to its performance. [0003] At present, most of the manipulators of similar robots at home and abroad are driven by electric power or hydraulic pressure. Their structures are relatively complex, their volume is relatively large, their grasping weight is generally small, and their operating range and scope are also limited. Moreover, the cost of high-performance manipulators is relatively high. Expensive, and there are defects such as difficult disassembly and maintenanc...

Claims

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Application Information

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IPC IPC(8): B25J9/04B25J18/04B25J15/08
Inventor 马振书卞学良孙华刚杜峰坡罗磊张攀峰郝建滨
Owner ORDNANCE TECH RES INST OF THE GENERAL ARMAMENT DEPT PLA
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