Novel two-degree-of-freedom assembling mechanical arm
A technology of assembling machinery and degrees of freedom, applied in the directions of manipulators, claw arms, chucks, etc., can solve the problems of large cumulative error, small bearing capacity and low precision of serial manipulators, and achieve flexible and diversified arm movement trajectories, large bearing capacity, high precision effect
Inactive Publication Date: 2018-05-29
GUANGXI UNIV
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Problems solved by technology
[0003] The purpose of the present invention is to provide a new two-degree-of-freedom assembly manipulator, so as to overcome the shortcomings of series manipulators such as large cumulative error, low precision, low rigidity and small load-carrying capacity
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Embodiment Construction
[0006] A new type of assembly manipulator with two degrees of freedom consists of a base 1, a large arm 18, a first active rod 3, a first connecting rod 5, a first connecting rod 7, a second active rod 14, a second connecting rod 12, a second The connecting rod 10, the wrist link 9, the claw 22, the wrist 21, and the driving device are composed; one end of the arm 18 is connected with the base 1 through the first rotating pair 19, and the other end is connected with the first connecting rod through the second rotating pair 16. 7 is connected, one end of the first active rod 3 is connected with the base 1 through the third rotating pair 2, and the other end is connected with the first connecting rod 5 through the fourth rotating pair 4, and the first connecting rod 5 is connected with the fifth rotating pair 6. The first connecting rod 7 is connected. One end of the second active rod 14 is connected with the base 1 through the sixth rotating pair 15 , and the other end is conne...
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A novel two-degree-of-freedom assembling mechanical arm is composed of a base 1, a large arm body 18, a first driving rod 3, a first connection rod 5, a first connecting rod 7, a second driving rod 14, a second connection rod 12, a second connecting rod 10, a wrist connection rod 9, a paw 22, a wrist 21 and a driving device. One end of the large arm body 18 is connected with the base 1 through a first rotating pair 19, the second connection rod 12 is connected with the second connecting rod 10 through an eighth rotating pair 11, and one end of the second connecting rod 10 is connected with thelarge arm body 18 through a ninth rotating pair 17. The other end of the second connecting rod 10 is connected with the wrist connection rod 9 through a tenth rotating pair 20, the wrist connection rod 9 is connected with the first connecting rod 7 through an eleventh rotating pair 8, and the driving device is composed of a first servo motor and a second servo motor which are connected with the first driving rod 3 and the second driving rod 14 to drive the first driving rod 3 and the second driving rod 14 correspondingly. Through the novel two-degree-of-freedom assembling mechanical arm, thedefects that a traditional hydraulic type assembling mechanical arm is poor in reliability, high in maintenance cost and the like are overcome.
Description
technical field [0001] The invention relates to the field of machinery, in particular to a novel assembly manipulator with two degrees of freedom. Background technique [0002] At present, most of the general assembly manipulators in the manufacturing industry are joint-type motor-driven manipulators with a series structure in the form of an open chain. The main feature is that the drive motors are all installed on each joint of the manipulator. various actions. Since the drive motors of the open-chain series-structured articulated manipulators are all installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and needs to meet the rigidity requirements, and the size of the arm section needs to be larger. This will increase the load of the drive motor, increase the motion inertia of the arm, and cause the dynamic performance of the manipulator to decrease. At the same time, the drive motor is installed at t...
Claims
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Patent Timeline
Login to View More IPC IPC(8): B25J18/00B25J15/08
CPCB25J18/00B25J15/08
Inventor 不公告发明人
Owner GUANGXI UNIV