Precise positionable and compensable heavy-load mechanical arm

Abstract

The invention discloses a precise positionable and compensable heavy-load mechanical arm which comprises a power device, a base, an arm assembly, a wrist assembly, a flexible claw and an automatic control system. The arm assembly comprises a lower arm assembly, a middle arm assembly and an upper arm assembly. The precise positionable and compensable heavy-load mechanical arm can adapt to a heavy-load working environment in a hydraulic drive mode, and on the basis, an external control system sends an instruction to an electric spindle according to information fed back by external and internal sensors and the like, so that a first connecting rod mechanism and a second connecting rod mechanism which are in transmission connection with the electric spindle perform fine adjustment compensation on the aspects of distance, angle and the like of the mechanical arm, and the precise effect can be achieved. When the mechanical arm is used, various sensor and computer control technologies are combined, so that working state monitoring can be achieved in the working process of the mechanical arm, precise mechanical arm operation can be ensured, meanwhile transmission errors of a transmission chain are decreased by using the electric spindle and other matched parts, the transmission accuracy is improved, and precise motion and safety guarantee of the wrist and the flexible claw is achieved.

Description

technical field [0001] The invention relates to an automatic mechanical component, in particular to a precision heavy-duty manipulator capable of positioning and compensation. Background technique [0002] As the main key equipment in important manufacturing equipment, the mechanical arm has been widely studied, mainly used in automobiles, ships, ships, aircraft, satellites, rockets, spacecraft, large machine tools, large production lines and equipment groups, and iron and steel metallurgy and other industries. However, in some special applications, higher requirements are placed on the positioning accuracy and carrying capacity of industrial manipulators. To a certain extent, the motion accuracy of the manipulator directly determines the level and quality of the operation. [0003] In the prior art, in the heavy-duty working environment, since most of the manipulators are driven by hydraulic pressure, coupled with the influence of the transmission chain and matching compo...

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Problems solved by technology

[0003] In the prior art, in the heavy-duty working environment, since most of the manipulators are driven by hydraulic pressure, coupled with the influence of the transmission chain and matching components, it is difficult to guarantee the accuracy of their operation; in the case of manipulators with multiple degrees of freedom , if higher requirements are placed on the precision of the manipulator, it will limit the development of degrees of freedom

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