Multi-degree-of-freedom robotic arm

Abstract

The invention relates to a multi-degree-of-freedom mechanical arm. The lower end of a stretching rod of the mechanical arm is connected to a sliding block through a first revolute pair, the sliding block is installed in a sliding groove in a working platform, the upper end of the stretching rod is connected with one end of a second rod through a second revolute pair, and the other end of the second rod is connected to an actuator through a third revolute pair; the lower end of a first rod is connected to the working platform through a fourth revolute pair, the other end of the first rod is connected to a second sliding sleeve through a fifth revolute pair, and the second rod is sleeved with the second sliding sleeve; and the lower end of a third rod is connected to the working platform through a sixth revolute pair, the upper end of the third rod is connected to a first sliding sleeve through a seventh revolute pair, the second rod is sleeved with the first sliding sleeve, and the working platform is installed on a trolley through an eighth revolute pair. According to the multi-degree-of-freedom mechanical arm, the beneficial effects of large working space, large digging force, good stress and the like of a traditional hydraulic machine mechanism are achieved; and meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-degree-of-freedom mechanical arm. Background technique [0002] Palletizing robots are widely used in automatic handling operations such as machine tool loading and unloading, stamping machine automated production lines, automatic assembly lines, palletizing, and containers. Existing palletizing robots mainly have three structural types: Cartesian coordinate type, cylindrical coordinate type and joint type. Among them, the articulated palletizing robot has gradually become the main structural form of the palletizing robot because of its compact structure, flexible movement, small footprint, and large working space. However, the drive motors of this type of palletizing robot with traditional open-chain series structure must be installed at the joints, resulting in problems such as heavy weight, poor rigidity, large inertia, and accumulated joint errors. The dynamic performance of t...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a multi-degree-of-freedom mechanical arm, which overcomes the disadvantages of traditional hydraulic excavators such as high maintenance cost, high operating noise, high cost of hydraulic components, and insufficient sensitivity of response.

Images