Four-degree-of freedom electrically driven multi-joint industrial manipulator of closed-chain structure

Abstract

The invention relates to the technical field of manipulators and in particular relates to a four-degree-of freedom electrically driven multi-joint industrial manipulator of a closed-chain structure. The manipulator is composed of a base, a rotary table, a large arm, an electric large arm push rod, a small arm, an electric small arm push rod, a wrist oscillating bar, an electric wrist push rod and a gripper; the large arm is mounted on the rotary table; the electric large arm push rod is connected with the large arm and the rotary table by use of hinges; the electric small arm push rod is connected with the large arm and the small arm by use of hinges; the electric wrist push rod is connected with the wrist oscillating bar and the small arm by use of hinges; the gripper is mounted on the wrist oscillating bar. According to the four-degree-of freedom electrically driven multi-joint industrial manipulator of the closed-chain structure, the electric push rods and the arms are combined into the triangular closed-chain manipulator, and compared with the existing manipulator of an open-chain structure, the rigidity of the mechanical arm is improved, the mass of the mechanical arm is reduced and the precision is improved; as a result, the manipulator has the characteristics of low cost, simple structure, good rigidity, high precision and high modularization degree.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a four-degree-of-freedom electric-driven multi-joint industrial manipulator with a closed-chain structure. Background technique [0002] Industrial robots play an important role in the manufacturing industry. Robots are more accurate and faster than workers, which will greatly improve product yield and production efficiency. At present, there is an increasing demand for general-purpose robots suitable for automated production of small and medium-sized enterprises. Large, with the wide application of manipulator technology, general-purpose manipulators with independent controllers, flexible actions, and suitable for small and medium-sized batches of automated production have developed rapidly. At present, most general-purpose manipulators are open-chain series-structure joint motor-driven manipulators. Its main feature is that the driving motors are all installed on each join...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to propose a four-degree-of-freedom electric-driven multi-joint industrial manipulator with a closed-chain structure, which can realize a total of rotation and arm pitching , Forearm pitch, wrist bending, and wrist rotation five degrees of freedom. It has the characteristics of low cost, simple structure, good rigidity, high precision, and high degree of modularization. It can be used in small and medium-sized batches of automated production in modern manufacturing industries.

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