Novel mechanical arm based on double-bevel deflection joints

Abstract

The invention discloses a novel mechanical arm based on double-bevel deflection joints. The double-bevel deflection joints are adopted to replace a part or all of single degree-of-freedom rotating joints of the mechanical arm. A mechanical paw is assembled at the tail end of the mechanical arm. Each double-bevel deflection joint comprises a near-end mounting base, a near-end motor, a near-end driving gear, a near-end internal gear, a near-end wobbler, a cardan joint, a far-end wobbler, a far-end internal gear, a far-end driving gear, a far-end motor, a far-end mounting base and the like. The two corresponding motors are adopted for each double-bevel deflection joint to drive two coupling bevel differential motions to complete a two-degree-of-freedom motion in a cone, the motion of each joint is achieved through the two corresponding motors, and power density of the joints is increased; meanwhile, the motions of the joints can be adjusted when the motors are in a high-speed continuous state, so quick motions of the joints can be achieved.

Description

technical field [0001] The invention relates to a mechanical arm, in particular to a novel mechanical arm based on a double-slope deflection joint. Background technique [0002] As a typical representative of industrial robots, mechanical arms have been widely used in many fields such as automobile manufacturing, agriculture, medical rescue, military and space exploration after decades of development. Manufacturers include foreign KUKA, ABB, YASKAWA, NACHI , FANUC and domestic Xinsong, etc.; in recent years, by carrying visual sensors, companies such as ABB, YASKAWA, NACHI, EPSON and Universal Robots have launched dual-arm robots, which have completed complex tasks such as workpiece assembly and service. [0003] In the prior art, most of the research on multi-degree-of-freedom manipulators focuses on how to improve the performance and application range of the manipulator through the optimal design of control and the application of new technologies, less attention is paid to...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, most of the research on multi-degree-of-freedom manipulators focuses on how to improve the performance and application range of the manipulator through the optimal design of control and the application of new technologies, less attention is paid to the basic structure of the manipulator, and more It is composed of single-degree-of-freedom rotating joints or moving joints in series. When completing the work of a specific trajectory, only a part of the motor outputs useful work, and the actual effective power of the manipulator is much smaller than the sum of the power of each joint; during the movement of the manipulator, The single-degree-of-freedom rotary joint often switches the direction of rotation continuously, and the motor starts, stops and changes directions frequently, which cannot maintain the ideal state of movement at the rated speed and make full use of the high-speed characteristics of the motor

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