Intelligent five-shaft manipulator

Abstract

The invention discloses an intelligent five-shaft manipulator. The manipulator comprises a manipulator body and five movement mechanisms, wherein a swing arm movement mechanism is supported on a vertical movement mechanism, and can be driven to realize upper and lower mobile positioning through the vertical movement mechanism; an overturning movement mechanism is supported on the swing arm movement mechanism, and can be driven to rotate by the swing arm movement mechanism; a horizontal movement mechanism and an actuating station rotary movement mechanism are supported on the overturning movement mechanism, and can be driven to rotate together by the overturning movement mechanism, and the horizontal movement mechanism can drive a telescopic arm to move to and fro in the length direction of a main arm; and a flange plate can be driven to revolve around the center of the actuating station rotary movement mechanism through the actuating station rotary movement mechanism; and the mounting positions of the five movement mechanisms are reasonably configured to reduce the bearing capacities of the swing arm movement mechanism and the horizontal movement mechanism, so that the intelligent five-shaft manipulator is not only fast in movement speed, small in inertia and flexible to operate, but is also high in positioning precision, high in stability and good in safety.

Description

technical field [0001] The invention relates to the technical field of manipulators, and specifically provides an intelligent five-axis manipulator. Background technique [0002] Existing intelligent manipulators usually include five kinematic mechanisms, namely: vertical kinematic mechanism, swing arm kinematic mechanism, turning kinematic mechanism, horizontal kinematic mechanism and executive end rotary kinematic mechanism. However, in the existing technical solutions, the swing arm motion mechanism is mostly used as the supporting mechanism of the other four motion mechanisms, so when the swing arm motion mechanism moves, the other four motion mechanisms must be driven to move together, thus bearing a large load. The weight causes the moment of inertia of the swing arm movement mechanism to be very large, which makes the positioning accuracy on the horizontal plane poor, and affects the accuracy of the overall equipment of the manipulator. Contents of the invention ...

AI Technical Summary

Problems solved by technology

However, in the existing technical solutions, the swing arm motion mechanism is mostly used as the supporting mechanism of the other four motion mechanisms, so when the swing arm motion mechanism moves, the other four motion mechanisms must be driven to move together, thus bearing a large load. Weight, resulting in a large moment of inertia of the swing arm movement mechanism, which in turn makes the positioning accuracy on the horizontal plane poor, affecting the accuracy of the overall equipment of the manipulator

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