Integrated type two-degree-freedom mechanical arm and control system thereof

Abstract

The invention discloses an integrated type two-degree-freedom mechanical arm and a control system thereof. The mechanical arm comprises a ball screw, an outer cylinder rotation type ball spline, an upper hollow motor, a lower hollow motor, a screw-spline connecting piece and a fixing plate, wherein the ball screw is located in the Z-axis direction, the outer cylinder rotation type ball spline is capable of conducting rectilinear motion and rotational motion simultaneously, the upper hollow motor is arranged on the ball screw, the lower hollow motor is arranged on the ball spline, the screw-spline connecting piece connects the ball screw with the ball spline, and the upper hollow motor and the lower hollow motor are fixed on the fixing plate. According to the mechanism arm, through the two hollow motors, the ball screw and the ball spline are connected with a motor shaft directly without a synchronous belt, the cumulative errors are reduced, and the response speed and transmission accuracy of the mechanical arm are improved; the two motors, the ball screw and the ball spline are located on the same axis, the decoupling of rectilinear motion and rotational motion is achieved, the structure is simple, the size of the mechanism is further shrunk, and meanwhile the machining cost is lowered.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to an integrated two-degree-of-freedom manipulator and its control system. Background technique [0002] With the continuous development of my country's economy and the rapid advancement of science and technology, industrial robots are widely used in the electronics industry, automobile industry, medical and other fields. An integrated two-degree-of-freedom manipulator is an important part of an industrial robot. As a direct execution part, it is widely used in the field of automatic plug-in, soldering, dispensing, patching and other mounting technologies. Its own structure , weight, dimensions and precision have a direct impact on the working performance and technical performance of the entire robot. The current linear plus rotary motion mechanism generally uses synchronous belts, chains and other adapters to realize the motion transmission between the driving part and t...

AI Technical Summary

Problems solved by technology

The current linear plus rotary motion mechanism generally uses synchronous belts, chains and other adapters to realize the motion transmission between the driving part and the driven part, and the driving part and the driving part, and the driving part and the driven part are distributed on different axes. , which has low efficiency, poor precision, complex structure and high manufacturing cost

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