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Multi-axis independent control mechanical arm

A mechanical arm, independent control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of complex motion control of manipulators

Pending Publication Date: 2019-06-07
曾林旺
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, there is a problem with this kind of robotic arm, that is, there is interference between the movements of each degree of freedom of this kind of robotic arm, so that the movements of each degree of freedom cannot be independently driven by each drive motor, which makes the motion control of this kind of robotic arm very complicated; For example: if it is necessary to perform this degree of freedom movement in which the end of the arm member rotates around the central axis of rotation of the first arm member, the first drive motor to the N+2th drive motor are required to drive the first stage of the first joint respectively The driving bevel gear to the N+1th first-stage driving bevel gear and the first arm member rotate simultaneously in the same direction and at the same speed, so that the first-stage driving bevel gear to the N+1th first-stage driving bevel gear and the first One arm member remains relatively still, so as to eliminate the interference of this degree of freedom movement of the end of the arm member around the central axis of rotation of the first arm member on other degrees of freedom movements, resulting in the rotation of the end of the arm member around the first arm member alone This degree of freedom of central shaft rotation requires the simultaneous control of the first drive motor to the N+2th drive motor

Method used

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Examples

Experimental program
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Effect test

Embodiment 1

[0040] In this embodiment, N is 4;

[0041] Specifically, cooperate Figure 1 to Figure 9 As shown, a mechanical arm of this embodiment includes an arm part A and a drive part B for driving the arm part A to move;

[0042] In this embodiment, the arm component A includes four arm components A1, the first arm component A11 is rotatably fitted on the driving component B, and the first arm component A11 and the second arm component A12 pass through The first joint 1 is rotatably connected, the second arm member A12 and the third arm member A13 are rotatably connected through the second joint 2, and the third arm member A13 and the fourth arm member A14 are connected through the third arm member A14. Joint 3 is rotatably connected.

[0043] In this embodiment, the first joint 1 includes a primary bevel gear set 11, a transition bevel gear set 12, a driven bevel gear set 13, and a primary bevel gear set fixedly connected to the head end of the first arm member A11. The connectin...

Embodiment 2

[0063] Cooperate Figure 10 to Figure 16 As shown, in this embodiment, N is 4; the main difference between this embodiment and Embodiment 1 lies in the difference of the power mechanism and the structure of the first joint to the third joint.

[0064] Specifically, in this embodiment, the power mechanism includes six drive motors E, wherein the output shafts of the first drive motor E1 to the sixth drive motor E6 are respectively sleeved with a first-stage transmission unit The outer teeth of the first-stage transmission ring gear C14 of the planetary row C1 and the outer teeth of the sixth-stage transmission ring gear C64 of the sixth-stage transmission single planetary row C6 are respectively meshed with six motor gears P; the first drive motor E1 output shaft The motor gear P meshing with the outer teeth of the first-stage transmission ring gear C14 of the first-stage transmission single planetary row C1 is fixedly connected with the output shaft of the first drive motor E1...

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Abstract

The invention discloses a multi-axis independent control mechanical arm. The multi-axis independent control mechanical arm comprises an arm part and a driving part. The driving part comprises a transmission mechanism and a power mechanism. The transmission mechanism comprises a first-grade transmission single planetary row to an (N+2)th-grade transmission single planetary row. The first-grade transmission single planetary row to the (N+2)th-grade transmission single planetary row are coaxially overlaid in sequence from top to bottom. An Xth-grade transition single planetary row is arranged between the Xth-grade transmission single planetary row and the (X+1)th-grade transmission single planetary row, and the X is 1 to (N+1). An Xth-grade sun gear is shared by the Xth-grade transmission single planetary row and the Xth-grade transition single planetary row, and an (X+1)th-grade planetary carrier is shared by the Xth-grade transition single planetary row and the (X+1)th-grade transmission single planetary row. The power mechanism comprises (N+2) driving motors. The Yth driving motor and a Yth-grade transmission gear ring of the Yth-grade transmission single planetary row are connected in a transmission mode, and the Y is 1 to (N+2). According to the multi-axis independent control mechanical arm, the movement of each degree of freedom is independently driven by the corresponding driving motor, and external force detection is achieved by multiple pressure sensors.

Description

technical field [0001] The invention relates to the field of mechanical arms, in particular to a multi-axis independently controlled mechanical arm. Background technique [0002] The robotic arm is the most widely used automatic mechanical device in the field of mechanical technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. However, the existing multi-joint mechanical arms are generally provided with a drive motor for driving the movement of the arm components at the joint where the two arm components are rotatably connected, that is, the drive motor is combined on the arm parts of the mechanical arm, which leads to the movement of the mechanical arm. The overall size and weight of the arm parts are too large, which greatly reduces the load capacity of the robotic arm. [0003] In order to improve the load capacity of the mechanical arm, the applicant designed a mech...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J9/10B25J9/06
CPCB25J9/10B25J9/12B25J9/06
Inventor 曾林旺
Owner 曾林旺