Five-joint carrying robot mechanism

Abstract

The invention discloses a five-joint carrying robot mechanism. A base is of a ladder type structure, a rotating shaft is arranged on the low step on the upper portion of the base, one side of the rotating shaft is connected with a large arm input shaft, one end of the large arm input shaft is connected with the rotating shaft, the other end of the large arm input shaft is connected with a large arm, the rear end of the large arm is in transmission connection with a small arm, the rear end of the small arm is connected with a wrist, the rear end of the wrist is connected with the tail end, a first stepping motor is arranged in the base, the output end of the first stepping motor is connected with a harmonic speed reducer, the harmonic speed reducer is arranged on the rear side in the base,the output end of the harmonic speed reducer is connected with the rotating shaft, the large arm input shaft and the large arm, the second stepping motor is arranged on one side of the large arm, andthe output end of the second stepping motor is connected with the small arm and the wrist. Through mutual cooperation of all components in the five-joint robot, the large arm, the small arm and the wrist drive the tail end to run by all angles, the motion freedom degree is high, the structure is simple, the flexibility is high, the weight of the front end of the mechanical arm is reduced, and practicability of the five-joint mechanical arm can be improved.

Description

technical field [0001] The invention relates to the technical field of mechanical equipment, in particular to a five-joint handling robot mechanism. Background technique [0002] At present, metal parts are processed in some factories, and the processing includes multiple steps, one of which is to put the material to be processed into the processing area, but the current factories often use the method of manual handling, that is, manually Putting the materials one by one into the processing area, the handling speed is slow and requires a lot of labor. When encountering some materials with relatively high quality, it will be inconvenient for the workers to carry them, time-consuming and laborious, and the work efficiency is low. In addition, due to Some processing and manufacturing equipment or environments have risks of labor injury such as high temperature and high pressure, toxicity and hazards, and manual handling will seriously affect people's health. With the progress ...

AI Technical Summary

Problems solved by technology

However, the structure of the handling robot commonly used in the traditional market is a parallelogram structure, because it can ensure that its execution end is always parallel to the horizontal plane, which is conducive to the storage of items and the safety during the handling process, but its fixed position of the robot There are requirements, which reduces the practicality of the handling robot

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