CN104723324A - Four-degree-of-freedom electric multi-joint mechanical arm - Google Patents
Four-degree-of-freedom electric multi-joint mechanical arm Download PDFInfo
- Publication number
- CN104723324A CN104723324A CN201310705637.6A CN201310705637A CN104723324A CN 104723324 A CN104723324 A CN 104723324A CN 201310705637 A CN201310705637 A CN 201310705637A CN 104723324 A CN104723324 A CN 104723324A
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- electric
- push rod
- mechanical arm
- degree
- pitching
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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
The present invention relates to manipulator technical field, particularly a kind of four-degree-of-freedom electric drive articulated robot hand.
Background technology
Along with the extensive use of manipulator technology, there is independent control, flexible movements, the Unimate that is applicable to small batch automated production developed rapidly, current Unimate adopts motor to be arranged on the frame mode of joint, drive motors is all arranged on each joint of manipulator, by the rotation in each joint of driven by motor manipulator, realize the various actions of manipulator; There is following problem in this frame mode: manipulator arm needs the weight carrying motor also need meet rigidity requirement, arm sectional dimension needs to do larger, the load of drive motors can be increased like this, increase the movement inertia of arm, manipulator dynamic property is caused to decline, drive motors is all arranged on the complex structure that joint position causes manipulator simultaneously, and the degree of modularity of product is low.And have that cost is low, dynamic property good, structure is simple, the Unimate of the degree of modularity high feature is more and more important in the effect of small batch automated production.
Summary of the invention
The object of the invention is to: high for existing machinery hand cost, the deficiency that dynamic property is low, complex structure, the degree of modularity are low, a kind of four-degree-of-freedom electric drive articulated robot hand is proposed, pitching can be realized, motion that flexible, rotation turns, turns wrist four frees degree, have the advantages that cost is low, dynamic property good, structure is simple, the degree of modularity is high, can be used for the small batch automated production in modern manufacturing industry.
Technical scheme provided by the invention is: a kind of four-degree-of-freedom electric drive articulated robot hand, by base, turning motor, slew gear, panoramic table, pitching electric pushrod, column, telescopic electric push rod, rotatable wrist, paw forms, column and pitching electric pushrod are arranged on panoramic table, pitching electric pushrod is connected with telescopic electric push rod by hinge, telescopic electric push rod is arranged on column, telescopic electric push rod is connected with rotatable wrist, paw is arranged in rotatable wrist, turning motor and transmission mechanism are installed in the base, be connected with panoramic table.
Outstanding advantages of the present invention is: the transform linear motion of electric pushrod is that manipulator faces upward around trunnion axis action of bowing by quadric chain by pitching electric pushrod, realize arm and face upward the relatively simple for structure of motion of bowing, structure easily realizes modularization, pitching and telescopic electric push rod are provided with position sensor, according to the position sensor signal feeding back to input, controller judges whether the motion of arm puts in place, then motion and the stopping of electric pushrod is controlled, the random positioned needs of manipulator can be realized, thus it is low to make the present invention have cost, dynamic property is good, structure is simple, the feature of the high and highly versatile of the degree of modularity.
Accompanying drawing explanation
Fig. 1 is a kind of four-degree-of-freedom electric drive articulated robot hand schematic diagram of the present invention.
Detailed description of the invention
Below by way of accompanying drawing, technical scheme of the present invention is described further.
A kind of four-degree-of-freedom electric drive articulated robot hand, be made up of 1 base, 2 turning motors, 3 slew gears, 4 panoramic tables, 5 pitching electric pushrods, 6 columns, 7 telescopic electric push rods, 8 rotatable wrists, 9 paws, column and pitching electric pushrod are arranged on panoramic table, pitching electric pushrod is connected with telescopic electric push rod by hinge, telescopic electric push rod is arranged on column, telescopic electric push rod is connected with rotatable wrist, paw is arranged in rotatable wrist, turning motor and transmission mechanism are installed in the base, are connected with panoramic table.
The transform linear motion of electric pushrod is that manipulator faces upward around trunnion axis action of bowing by quadric chain by pitching electric pushrod, realize arm and face upward the relatively simple for structure of motion of bowing, structure easily realizes modularization, pitching and telescopic electric push rod are provided with position sensor, according to the position sensor signal feeding back to input, controller judges whether the motion of arm puts in place, then motion and the stopping of electric pushrod is controlled, the random positioned needs of manipulator can be realized, thus it is low to make the present invention have cost, dynamic property is good, structure is simple, the feature of the high and highly versatile of the degree of modularity.
Claims (1)
1. a four-degree-of-freedom electric drive articulated robot hand, be made up of base, turning motor, slew gear, panoramic table, pitching electric pushrod, column, telescopic electric push rod, rotatable wrist, paw, column and pitching electric pushrod are arranged on panoramic table, pitching electric pushrod is connected with telescopic electric push rod by hinge, telescopic electric push rod is arranged on column, telescopic electric push rod is connected with rotatable wrist, paw is arranged in rotatable wrist, turning motor and transmission mechanism are installed in the base, are connected with panoramic table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310705637.6A CN104723324A (en) | 2013-12-20 | 2013-12-20 | Four-degree-of-freedom electric multi-joint mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310705637.6A CN104723324A (en) | 2013-12-20 | 2013-12-20 | Four-degree-of-freedom electric multi-joint mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104723324A true CN104723324A (en) | 2015-06-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310705637.6A Pending CN104723324A (en) | 2013-12-20 | 2013-12-20 | Four-degree-of-freedom electric multi-joint mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104723324A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798905A (en) * | 2016-05-12 | 2016-07-27 | 安徽六联智能科技有限公司 | Six-axis intelligent carrying mechanical hand for stamping |
| CN108098747A (en) * | 2017-12-27 | 2018-06-01 | 华南智能机器人创新研究院 | A kind of wu-zhi-shan pig of the electronic clamping jaw of band |
| CN110011083A (en) * | 2019-04-02 | 2019-07-12 | 国网安徽省电力有限公司检修分公司 | A kind of Portable short-circuit earthing or grounding means that can be automatically controled |
| CN111068223A (en) * | 2020-01-14 | 2020-04-28 | 青岛澳西智能科技有限公司 | Automatic dewatering belt device, automatic dewatering belt method and fire-fighting robot |
| CN111702778A (en) * | 2020-06-16 | 2020-09-25 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2467060A1 (en) * | 1979-10-12 | 1981-04-17 | Hitachi Ltd | INDUSTRIAL ROBOT OF ARTICULATED TYPE |
| EP0061153A1 (en) * | 1981-03-25 | 1982-09-29 | Gesellschaft für digitale Automation mbH | Industrial robot |
| CN2759719Y (en) * | 2004-12-24 | 2006-02-22 | 张建明 | Multifunctional mechanical device used for fire fighting and emergency |
| CN201711445U (en) * | 2010-05-31 | 2011-01-19 | 盐城市三祥机械设备有限公司 | Automatic material loading and unloading manipulator |
| CN103222394A (en) * | 2013-05-14 | 2013-07-31 | 广西大学 | Multifunctional green fence pruning manipulator capable of reconfiguring rapidly |
-
2013
- 2013-12-20 CN CN201310705637.6A patent/CN104723324A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2467060A1 (en) * | 1979-10-12 | 1981-04-17 | Hitachi Ltd | INDUSTRIAL ROBOT OF ARTICULATED TYPE |
| EP0061153A1 (en) * | 1981-03-25 | 1982-09-29 | Gesellschaft für digitale Automation mbH | Industrial robot |
| CN2759719Y (en) * | 2004-12-24 | 2006-02-22 | 张建明 | Multifunctional mechanical device used for fire fighting and emergency |
| CN201711445U (en) * | 2010-05-31 | 2011-01-19 | 盐城市三祥机械设备有限公司 | Automatic material loading and unloading manipulator |
| CN103222394A (en) * | 2013-05-14 | 2013-07-31 | 广西大学 | Multifunctional green fence pruning manipulator capable of reconfiguring rapidly |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798905A (en) * | 2016-05-12 | 2016-07-27 | 安徽六联智能科技有限公司 | Six-axis intelligent carrying mechanical hand for stamping |
| CN108098747A (en) * | 2017-12-27 | 2018-06-01 | 华南智能机器人创新研究院 | A kind of wu-zhi-shan pig of the electronic clamping jaw of band |
| CN110011083A (en) * | 2019-04-02 | 2019-07-12 | 国网安徽省电力有限公司检修分公司 | A kind of Portable short-circuit earthing or grounding means that can be automatically controled |
| CN111068223A (en) * | 2020-01-14 | 2020-04-28 | 青岛澳西智能科技有限公司 | Automatic dewatering belt device, automatic dewatering belt method and fire-fighting robot |
| CN111702778A (en) * | 2020-06-16 | 2020-09-25 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
| CN111702778B (en) * | 2020-06-16 | 2022-01-04 | 大连理工大学 | Multi-arm robot for realizing sitting and lying posture conversion and carrying of user |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150624 |