Novel five-degree-of-freedom manipulator

Abstract

The invention discloses a novel five-degree-of-freedom manipulator comprising a base, a rotating part, a first connecting part, a first shaft arm, a second connecting part, a second shaft arm, a third connecting part, a third shaft arm and a clamping jaw mechanism; the base is arranged on a horizontal plane, and the rotating part is arranged on the base; the first connecting part is arranged on the rotating part; the lower end of the first shaft arm is rotatably connected to the first connecting part, and the upper end of the first shaft arm is provided with the second connecting part; one end of the first shaft arm is rotatably connected to the first connecting part, and the other end of the first shaft arm is provided with the second connecting part; one end of the second shaft arm is rotatably connected to the second connecting part, and the other end of the second shaft arm is provided with the third connecting part; and one end of the third shaft arm is connected to the third connecting part, and the other end of the third shaft arm is connected with the clamping jaw mechanism. The novel five-degree-of-freedom manipulator is simple in structure, low in space occupancy rate as well as high in degree of freedom, movement stability and precision.

Description

technical field [0001] The invention relates to the field of manipulators, in particular to a novel five-degree-of-freedom manipulator. Background technique [0002] The manipulator is the earliest industrial robot and the first modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. The most important parameter to measure the performance of the manipulator is the degree of freedom. The more degrees of freedom, the better the range and flexibility of the manipulator. The manipulator generally includes a base, a shaft arm and a gripper. The gripper is connected to the base through the shaft arm. The relative movement between the base and the shaft arm, as well as between the shaft arm and the jaws drives the jaws to move; ...

AI Technical Summary

Problems solved by technology

The most important parameter to measure the performance of the manipulator is the degree of freedom. The more degrees of freedom, the better the range and flexibility of the manipulator. The manipulator generally includes a base, a shaft arm and a gripper. The gripper is connected to the base through the shaft arm. The relative movement between the base and the shaft arm, as well as between the shaft arm and the jaws drives the jaws to move; the moving power part is generally a motor; the base of a traditional manipulator is usually directly fixed on a horizontal surface, and the motor is installed on the bottom or side of the base. Occupies a lot of space on the base, resulting in an increase in the volume of the base, and the base has a single function, which only supports and drives the overall rotation of the shaft arm, which limits the degree of freedom of the manipulator; in addition, for traditional manipulators, the manipulator arm is the structure that occupies the largest space components, and the motor as the driving mechanism of the shaft arm is generally installed on the side of the shaft arm; therefore, the structural improvement of the mechanical arm, the structural improvement of the motor installation position, and the improvement of the degree of freedom are of great significance to the optimization and development of the manipulator. ;In addition, the traditional jaw generally includes 2 clamping blocks and 2 power mechanisms, and the two power mechanisms separately drive the two clamping blocks to move relative to each other to complete the clamping or loosening action; this kind of structure design is complicated and the cost is high; And because two sets of independent driving mechanisms are used for the two clamping blocks, in the actual work process, the driving synchronization of the two sets of driving mechanisms is highly required, and the asynchronous driving will directly lead to deviations in the relative motion of the two clamping blocks, affecting the clamping block. precision of movement

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