Six-freedom-degree manipulator driven by two motors

Abstract

The invention discloses a six-freedom-degree manipulator driven by two motors and belongs to the technical field of industrial robots. A manipulator base worm wheel can be driven through a base first servo motor speed reducer and a base second servo motor speed reducer simultaneously. A shoulder joint output shaft can be driven through a shoulder joint first servo motor speed reducer and a shoulder joint second servo motor speed reducer simultaneously. An elbow joint first output bevel gear can be driven through an elbow joint first servo motor speed reducer and an elbow joint second servo motor speed reducer or an elbow joint third servo motor speed reducer and an elbow joint fourth servo motor speed reducer simultaneously. A wrist joint first output bevel gear can be driven through a wrist joint first servo motor speed reducer and a wrist joint second servo motor speed reducer or a wrist joint third servo motor speed reducer and a wrist joint fourth servo motor speed reducer simultaneously. Therefore, the gear transmission clearance can be eliminated by loading moment on the servo motor speed reducers through a controller to form a moment difference, and the transmission accuracy of the manipulator is improved accordingly.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to a six-degree-of-freedom manipulator driven by dual motors. Background technique [0002] In the modern production process, the manipulator can be programmed to complete various expected tasks. It has the advantages of man and machine in terms of structure and performance. The six-degree-of-freedom manipulator can complete processing in some special environments with its flexibility. In particular, miniaturized and lightweight six-degree-of-freedom manipulators are being increasingly applied to modern production processes. However, in order to meet the transmission accuracy of the six-degree-of-freedom manipulator, it is necessary to eliminate the gap generated during the gear transmission process. At present, the main method of gear transmission anti-backlash method is to add a disc spring at the shaft end, and adjust the pressure of the disc spring. The two sides of t...

AI Technical Summary

Problems solved by technology

However, in order to meet the transmission accuracy of the six-degree-of-freedom manipulator, it is necessary to eliminate the gap generated during the gear transmission process. At present, the main method of gear transmission anti-backlash method is to add a disc spring at the shaft end, and adjust the pressure of the disc spring. The two sides of the gear are tightly meshed to eliminate the gap, but this method requires a high pressure when adjusting the disc spring. If it is too small, it will not achieve the purpose of eliminating the gap, and if it is too large, it will increase the wear of the gear and shorten the use of the gear. service life, and the repeated application of force makes the disc spring more easily damaged, and the disc spring needs to be replaced frequently. Therefore, a new structure is urgently needed to solve the above problems

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