Four-degree-of-freedom stepper motor driving joint-type manipulator

Abstract

The invention relates to a four-degree-of-freedom stepper motor driving joint-type manipulator. The four-degree-of-freedom stepper motor driving joint-type manipulator consists of a base, a rotary motor, a rotary table, a pitching stepper motor push rod, a stand column, a telescopic stepper motor push rod, a rotatable wrist and a claw, which are installed in sequence as shown in the figure; the pitching stepper motor push rod is used for converting the linear motion of the stepper motor push rod to the pitching action of the manipulator along a horizontal axis by virtue of a four-link mechanism, the structure for realizing the pitching motion of an arm is relatively simple, modularization of the structure can be easy to realize, the pitching stepper motor push rod and the telescopic stepper motor push rod are respectively provided with a position sensor, and a controller controls the stepper motor push rod to move and stop so as to realize the random positioning of the manipulator, so that the four-degree-of-freedom stepper motor driving joint-type manipulator has characteristics of low cost, good dynamic performance, simple structure, high modularization degree and high universality.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a multi-joint manipulator driven by a four-degree-of-freedom stepping motor. Background technique [0002] With the wide application of manipulator technology, general-purpose manipulators with independent controllers, flexible actions, and suitable for small and medium-sized batches of automated production have developed rapidly. At present, general-purpose manipulators adopt a structure in which motors are installed at joints, and all drive motors are installed on the manipulator. On each joint, the motor drives the rotation of each joint of the manipulator to realize various actions of the manipulator; this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load of the drive motor, increase the inertia of...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to propose a four-degree-of-freedom stepping motor-driven multi-joint manipulator, which can realize pitching, stretching, and turning , Wrist rotation with four degrees of freedom, has the characteristics of low cost, good dynamic performance, simple structure, and high degree of modularization, and can be used in small and medium batch automated production in modern manufacturing industries

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