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

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, ...

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, complex structure, and difficulty in disassembly and assembly. , wrist swing, wrist rotation, and rotation with five degrees of freedom, with the characteristics of low cost, simple structure, and convenient disassembly and assembly, and can be used in experimental teaching in colleges and secondary schools

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