Quickly disassembled and assembled four-axis manipulator

Abstract

The invention belongs to manipulators and specifically provides a quickly disassembled and assembled four-axis manipulator. The quickly disassembled and assembled four-axis manipulator comprises a shoulder joint servo motor I and a fixed base. The fixed base is connected with the shoulder joint servo motor I through screws. The shoulder joint servo motor I is connected with a harmonic reducer through screws. The quickly disassembled and assembled four-axis manipulator integrates shoulder joints with two degrees of freedom, an elbow joint with one degree of freedom and a wrist joint with one degree of freedom in a modular mode. One shoulder joint is composed of a customized harmonic reducer, a brake servo motor, a servo driver and the like. Under the condition of meeting the high performance and high precision, the intelligent joints are faster and more convenient to dismantle, and the other shoulder joint is directly driven by the corresponding servo motor. The quickly disassembled andassembled four-axis manipulator can be fast and convenient to disassemble and assemble on the basis of realizing four-axis linkage control of a mechanical arm and is particularly suitable for the robot teaching industry. The quickly disassembled and assembled four-axis manipulator as a robot in the teaching industry has the characteristics of being simple in installation, stable in output, high in structure compatibility and the like.

Description

Technical field [0001] The invention relates to the field of manipulators, in particular to a quick-dismountable four-axis manipulator. Background technique [0002] Harmonic reducer is a drive actuator used to drive the robot's connecting rod motion at the robot joints. It is a new type of robot-specific drive actuator that integrates servo motor, harmonic reducer, and drive system. [0003] At present, the education industry has a high degree of integration of multi-degree-of-freedom robots in series. At present, training and teaching are mainly aimed at the direction of robot program control and path trajectory planning. The disassembly and assembly of harmonic reducers and servo motor modules are more complicated. It is difficult for students in school to establish learning and maintain knowledge. To this end, new technical solutions need to be designed to solve them. Summary of the invention [0004] The purpose of the present invention is to provide a quick-dismountable four...

AI Technical Summary

Problems solved by technology

[0003] At present, the multi-degree-of-freedom robots in series in the education industry have a high degree of integration. At present, training and teaching are mainly aimed at robot program control and path trajectory planning. However, the disassembly and assembly of harmonic reducers and servo motor modules is relatively complicated. For those who are new to the robot industry of current students have difficulty building and maintaining knowledge in learning

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