Carrying mechanical hand with rod type parallel series connection structure

Abstract

A rod-type parallel-series structure handling manipulator is characterized by comprising a base, a rotary platform, a first active rod, a second active rod, a large arm, a large arm connecting rod, a middle arm connecting rod, a middle arm, a small arm, a wrist , hand claw, inclination angle detector, driving device; one end of the first active rod is connected with the rotary platform, the other end of the first active rod is connected with one end of the big arm connecting rod, the forearm is connected with the wrist, the claw is connected with the wrist, the inclination angle The detector is installed on the forearm, and the driving device includes a first servo motor, a second servo motor and a third servo motor. The forearm is connected with the wrist, the claw is connected with the wrist, the inclination detector is installed on the forearm, and the driving device includes a first servo motor, a second servo motor and a third servo motor. In the present invention, the motor originally installed on the arm is installed on the frame, thereby reducing the weight of the arm.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a pole-type parallel-series structure handling manipulator. Background technique [0002] Handling manipulators are widely used in processing and manufacturing production lines. Most of the existing handling manipulators use a six-degree-of-freedom series structure manipulator. All motors in this structure are installed at the arm joints. The manipulator arm needs to carry the weight of the motor and meet the rigidity requirements. The cross-sectional size of the arm needs to be made larger, which will increase the load of the drive motor and the moment of inertia of the arm, resulting in poor dynamic performance of the robot, large cumulative error of joints, and large moment of inertia. These factors directly affect the working efficiency and accuracy of the handling manipulator. ,, Increased production costs. At the same time, the drive motors are all installed at the joi...

AI Technical Summary

Problems solved by technology

[0002] Handling manipulators are widely used in processing and manufacturing production lines. Most of the existing handling manipulators use a six-degree-of-freedom series structure manipulator. All motors in this structure are installed at the arm joints. The manipulator arm needs to carry the weight of the motor and meet the rigidity requirements. The cross-sectional size of the arm needs to be made larger, which will increase the load of the drive motor and the moment of inertia of the arm, resulting in poor dynamic performance of the robot, large cumulative error of joints, and large moment of inertia. These factors directly affect the working efficiency and accuracy of the handling manipulator. ,, increase the production cost

At the same time, the drive motors are all installed at the joints, resulting in a complex structure and low modularity of the manipulator.

Images