Mechanical arm with multi-degree of freedom
A technology of degrees of freedom and manipulators, applied in the field of manipulators, can solve the problems of difficult-to-space transmission, less degrees of freedom, and low degrees of freedom of manipulators, and achieve the effects of realizing space, increasing sensitivity, and reducing device costs
Pending Publication Date: 2018-12-25
广东工业大学华立学院
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Problems solved by technology
[0002] In modern industrial transmission, a workpiece is moved to another place by a robotic arm. The placement position cannot be arbitrarily selected by a single robotic arm. The degree of freedom of a single industrial robotic arm is low, resulting in the need for more robotic arms or other auxiliary devices.
Because the current industrial transmission is spatialized and integrated, and requires six dimensions, the existing single industrial manipulator has few degrees of freedom, and it is difficult to complete the spatialized transmission
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[0016] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
[0017] Such as figure 1 As shown, the embodiment of the present invention provides a multi-degree-of-freedom mechanical arm, including a base 1, a rotary table 2, a first articulated arm 3, a second articulated arm 4, a wrist structure 5, and a finger clamping mechanism 6. The rotary table 2 is installed on the base 1, the first end of the first articulated arm 3 is hinged to the turntable 2 through the first worm drive mechanism 7, and the first end of the second articulated arm 4 is articulated through the second worm gear The transmission mechanism is hinged with the second end of the first articulated arm 3 so that the second articulated arm 4 has a degree of freedom ...
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The invention discloses a mechanical arm with multi-degree of freedom. The mechanical arm comprises a base, a rotary table, a first joint arm, a second joint arm, a wrist structure and a finger clamping mechanism. The rotary table is mounted on the base, a first end of the first joint arm is hinged with the rotary table through a first turbine transmission mechanism, the first end of the second joint arm is hinged with a second end of the first joint arm through a second turbine transmission mechanism, so that the second joint arm has the degree of freedom to rotate around the first joint arm,one side of the wrist structure is hinged with the second end of the second joint arm through a third turbine transmission mechanism, so that the wrist structure has the degree of freedom to rotate around the second joint arm, the finger clamping mechanism is arranged on the other side of the wrist structure, and the finger clamping mechanism moves rotationally through a first motor arranged at the wrist structure. The mechanical arm with multi-degree of freedom provided by the invention can achieve a multi-degree-of-freedom grabbing function, so that the sensitivity of a mechanical arm jointis improved.
Description
technical field [0001] The invention relates to the technical field of mechanical arms, in particular to a multi-degree-of-freedom mechanical arm. Background technique [0002] In modern industrial transmission, a workpiece is moved to another place by a robotic arm. The placement position cannot be arbitrarily selected by a single robotic arm. The degree of freedom of a single industrial robotic arm is low, resulting in the need for more robotic arms or other auxiliary devices. . Because the current industrial transmission is spatialized and integrated, and requires six dimensions, the existing single industrial manipulator has few degrees of freedom, and it is difficult to complete the spatialized transmission. Therefore, improving the degree of freedom of the joints of the manipulator is an urgent problem to be solved at present. Contents of the invention [0003] In order to overcome the above-mentioned technical problems, the present invention provides a multi-degre...
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IPC IPC(8): B25J9/04B25J18/00
CPCB25J9/04B25J18/00
Inventor 莫浩明王作桓黄伟鹏刘大龙邓嘉豪黄澎奋全寿昌
Owner 广东工业大学华立学院