A three-axis hybrid drive robotic arm

A hybrid drive and robotic arm technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of clumsy movement, complex mechanism, low transmission efficiency, etc., and achieve the effect of dexterous movement, high transmission efficiency, and smooth movement.

CN104608123BActive Publication Date: 2016-05-11HUZHOU ZHILI CHILDRENS CLOTHING DEV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2016-05-11

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Abstract

A three-axis hybrid-driven mechanical arm comprises a base, a support, a rear arm, a front arm and a palm. The palm is connected with the support through a first connecting rod mechanism formed by two parallelogram mechanisms, and a first infrared distance meter which is arranged on a connecting rod of the front arm is aligned with a second infrared distance meter which is arranged on a connecting rod of the rear arm; an electromagnetic coil drive mechanism used for driving the front arm and the rear arm to open and close relatively is arranged in the front arm and the rear arm, and the electromagnetic coil drive mechanism comprises a second connecting rod mechanism and electromagnetic coils; a worm gear type direct-current servo motor which is used for driving the support to rotate around the base and driving the rear arm to rotate around the support is arranged in the support; the support and the rear arm are both provided a position sensor, and the output ends of the position sensors, and the output end of the first infrared distance meter and the output end of the second first infrared distance meter are all connected with the input end of a controller; the controlling end of the worm gear type direct-current servo motor, the controlling end of the first electromagnetic coil and the controlling end of the second electromagnetic coil are all connected with the output end of the controller.
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Description

technical field

[0001] The invention relates to a three-axis mixed-drive mechanical arm, which is applied to stacking, transportation and other occasions. technical background

[0002] With the rapid development of logistics and other industries, the labor cost of simple and repetitive work has gradually increased, and mechanisms for replacing manual handling have been continuously designed and applied to workplaces, such as palletizing robots. There are many design schemes for palletizing robots, but most of them are motor-driven and realize palletizing tasks through a variety of mechanical structures. The mechanism is complicated, the movement is clumsy, and the transmission efficiency is low. Contents of the invention

[0003] The present invention overcomes the above-mentioned shortcomings of the prior art, and provides a three-axis hybrid drive mechanical arm with simple mechanism, dexterous movement and high transmission efficiency.

[0004] Three-axis hybrid drive ...

Examples

Embodiment Construction

[0020] Refer to the attached figure 1 -5 further illustrate the present invention:

[0021] The three-axis hybrid drive mechanical arm of the present invention includes a base 1, a support 2, a rear arm 3, a forearm 4, and a palm 5, and is characterized in that the support 2 is hinged around the vertically upward first axis On the base 1, the lower end of the rear arm 3 is hinged on the support 2 around the second horizontal axis 8, and the upper end of the front arm 4 is hinged on the rear arm 3 around the third axis 9 , the lower end of the forearm 4 is hinged to the palm 5 around the fourth axis 10, and the second axis 8, the third axis 9, and the fourth axis 10 are parallel to each other;

[0022] The palm 5 is connected to the first link mechanism, and the first link mechanism 6 includes a first intermediate link 60 whose middle part is hinged on the third shaft 9, a forearm link 61 extending in the forearm 4, and a forearm link 61 extending in the forearm 4. The rear a...