Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm

An electric manipulator, non-biased technology, applied in the field of manipulators, can solve the problems of high cost, difficult disassembly and assembly, complex structure, etc., and achieve the effects of low cost, good dynamic performance and simple mechanism

Inactive Publication Date: 2015-06-24
GUANGXI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to propose a five-degree-of-freedom non-biased vertical multi-joint electric manipulator, which can realize the pitching of the big arm and the pitching of the small arm, in view of the shortcomings of the existing teaching manipulator, such as high cost, com

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  • Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm

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Embodiment Construction

[0007] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0008] A five-degree-of-freedom non-biased vertical multi-joint electric manipulator, consisting of 1 rotary worm gear, 2 bases, 3 rotary tables, 4 small arm motors, 5 small arm worm gears, 6 claws, 7 wrist rotation motors, 8 wrist swing motors, 9 wrists, 10 small arms, 11 large arm worm gears, 12 large arm motors and 13 rotary motors. The connection block is installed on the boom, the small arm pitch electric push rod is connected with the connection block and the telescopic electric push rod through the hinge, the claw is installed on the telescopic electric push rod, and the rotary table is controlled by the rotary motor and the transmission mechanism in the base. drive.

[0009] The outstanding advantages of the present invention are: the large arm pitch electric push rod is connected with the rotary table and the large arm through the hing...

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Abstract

The invention relates to the technical field of mechanical arms, in particular to a five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm. The five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm comprises a rotary worm and gear, a base, a rotary table, a small-arm motor, a small-arm worm and gear, a gripper, a wrist rotating motor, a wrist swinging motor, a wrist, a small arm, a large-arm worm and gear, a large-arm motor and a rotary motor, wherein the driving motors of the rotary motor, the large arm and the small arm drive the rotary table, the large arm and the small arm respectively through transmission of worm and gear mechanisms. The five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm has the advantages that the mechanisms for transmitting are simple in structure, the mechanical arm is enabled to have a self-locking function in static status, and low cost, simple structure, good dynamic property and convenience in mounting and dismounting are achieved.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a five-degree-of-freedom non-biased vertical multi-joint electric manipulator. Background technique [0002] With the wide application of manipulator technology, general-purpose teaching manipulators with independent controllers, flexible movements, and suitable for experimental teaching in colleges and universities have developed rapidly. At present, the general-purpose teaching electric manipulator adopts an open-chain arm mechanism, and the motor is installed at the joint. The required driving torque is large, ordinary motors cannot be directly driven, and a large transmission ratio system must be used for deceleration. Most of the transmission chains are composed of a series of gear mechanisms, and the number of gear transmission stages is large. More stages will increase the weight of the transmission mechanism on the arm and increase the moment of inertia of the arm, ...

Claims

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Application Information

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IPC IPC(8): B25J9/06B25J9/04B25J9/12
Inventor 张铁异张孟军韦俊张琦方宇陶思源雷发兵
Owner GUANGXI UNIV
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