Four-degree-of-freedom electric multi-joint mechanical arm

Abstract

The invention relates to a four-degree-of-freedom electric multi-joint mechanical arm. The four-degree-of-freedom electric multi-joint mechanical arm comprises a base, a rotary motor, a rotating mechanism, a rotary table, an electric pitching push rod, a stand column, an electric telescopic push rod, a rotatable wrist and a gripper which are mounted in a sequence shown in a figure. The electric pitching push rod converts rectilinear motion of the electric push rod into pitching action, around a horizontal axis, of the mechanical arm through a four-connecting-rod mechanism, a structure for achieving the pitching motion is simple, and modularization is easy to achieve structurally; sensors are mounted on the electric pitching push rod and the electric telescopic push rod, and a controller judges whether the mechanical arm moves in position or not according to a position sensor signal fed back to the input end and controls the electric push rods to move and stop so as to achieve arbitrary positioning of the mechanical arm; accordingly, the four-degree-of-freedom electric multi-joint mechanical arm has the advantages of low cost, good dynamic property, 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 four-degree-of-freedom electric-driven multi-joint manipulator. 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 the arm, a...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to propose a four-degree-of-freedom electric-driven multi-joint manipulator, which can realize pitching, stretching, turning, rotating, etc. The movement of the wrist with four degrees of freedom has the characteristics of low cost, good dynamic performance, simple structure, and high degree of modularization. It can be used in small and medium-sized batch automated production in modern manufacturing industries

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