CN104723327A - Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm - Google Patents
Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm Download PDFInfo
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- CN104723327A CN104723327A CN201310705799.XA CN201310705799A CN104723327A CN 104723327 A CN104723327 A CN 104723327A CN 201310705799 A CN201310705799 A CN 201310705799A CN 104723327 A CN104723327 A CN 104723327A
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Abstract
The invention relates to the technical field of mechanical arms, in particular to a five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm. The five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm comprises a rotary worm and gear, a base, a rotary table, a small-arm motor, a small-arm worm and gear, a gripper, a wrist rotating motor, a wrist swinging motor, a wrist, a small arm, a large-arm worm and gear, a large-arm motor and a rotary motor, wherein the driving motors of the rotary motor, the large arm and the small arm drive the rotary table, the large arm and the small arm respectively through transmission of worm and gear mechanisms. The five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm has the advantages that the mechanisms for transmitting are simple in structure, the mechanical arm is enabled to have a self-locking function in static status, and low cost, simple structure, good dynamic property and convenience in mounting and dismounting are achieved.
Description
Technical field
The present invention relates to manipulator technical field, particularly the vertical joint type electric manipulator of the not offset formula of a kind of five degree of freedom.
Background technology
Along with the extensive use of manipulator technology, there is independent control, flexible movements, the general Mechanical hands for teaching that is applicable to universities' experimental teaching developed rapidly.Current general teaching electric manipulator is owing to adopting acyclic arm mechanism, and motor is arranged on joint.The driving moment needed is large, common electric machine cannot Direct driver, large gearratio system must be applied slow down, driving-chain majority adopts series of gears mechanism composition, and gear drive progression is more, and this frame mode exists following problem: because gear drive progression is more, the weight of arm upper driving mechanism can be increased, strengthen the movement inertia of arm, cause manipulator dynamic property to decline, cause the complex structure of manipulator, dismounting difficulty simultaneously.And have that cost is low, dynamic property good, structure is simple, to be easy to the effect of the general Mechanical hands for teaching of dismounting feature in college's educational experimentation teaching more and more important.
Summary of the invention
The object of the invention is to: high for existing Mechanical hands for teaching cost, structure is more complicated, the deficiency of dismounting difficulty, the vertical joint type electric manipulator of the not offset formula of a kind of five degree of freedom is proposed, can realize large arm pitching, forearm pitching, wrist swing, wrist rotates the motion that, rotation turns five frees degree, have cost low, structure is simple, the feature of easy accessibility, can be used in college's educational experimentation teaching.
Technical scheme provided by the invention is: the vertical joint type electric manipulator of the not offset formula of a kind of five degree of freedom, by 1 revolution worm and gear, 2 bases, 3 panoramic tables, 4 forearm motors, 5 forearm worm and gears, 6 paws, 7 wrist rotary electric machines, 8 wrist oscillating motors, 9 wrists, 10 forearms, 11 large arm worm and gears, 12 large arm motors, 13 turning motor compositions, revolution worm-and-wheel gear is installed in base, revolution worm-and-wheel gear is connected with panoramic table, large arm is arranged on panoramic table, in large arm, forearm worm-and-wheel gear is installed, forearm worm-and-wheel gear is connected with forearm, wrist oscillating motor, wrist rotary electric machine is arranged in forearm, paw is arranged in wrist.
Outstanding advantages of the present invention is: drive panoramic table, large arm, forearm after the drive motors of panoramic table, large arm, forearm all carries out transmission by worm-and-wheel gear, the mechanism realizing transmission is fairly simple; Mechanical arm can be made again when static to have self-lock ability.Thus it is low to make the present invention have cost, structure is simple, and dynamic property is good, the feature of easy accessibility.
Accompanying drawing explanation
Fig. 1 is the not offset formula of a kind of five degree of freedom of the present invention vertical joint type electric manipulator schematic diagram.
Detailed description of the invention
Below by way of accompanying drawing, technical scheme of the present invention is described further.
The vertical joint type electric manipulator of a kind of not offset formula of five degree of freedom, by 1 revolution worm and gear, 2 bases, 3 panoramic tables, 4 forearm motors, 5 forearm worm and gears, 6 paws, 7 wrist rotary electric machines, 8 wrist oscillating motors, 9 wrists, 10 forearms, 11 large arm worm and gears, 12 large arm motor 13 turning motor compositions, large arm is arranged on panoramic table, large arm pitching electric pushrod is connected with panoramic table and large arm by hinge, contiguous block is arranged in large arm, forearm pitching electric pushrod is connected with contiguous block and telescopic electric push rod by hinge, paw is arranged on telescopic electric push rod, panoramic table is driven by the turning motor in base and transmission mechanism.
Outstanding advantages of the present invention is: large arm pitching electric pushrod is connected with panoramic table and large arm by hinge, contiguous block is arranged in large arm; forearm pitching electric pushrod is connected with contiguous block and telescopic electric push rod by hinge, realizes size arm and faces upward the relatively simple for structure of motion of bowing; Position sensor in electric pushrod, can detect the actual displacement of electric pushrod to realize the random positioned needs of manipulator, thus it is low to make the present invention have cost, and structure is simple, the feature of easy accessibility.
Claims (1)
1. the vertical joint type electric manipulator of the not offset formula of five degree of freedom, by revolution worm and gear, base, panoramic table, forearm motor, forearm worm and gear, paw, wrist rotary electric machine, wrist oscillating motor, wrist, forearm, large arm worm and gear, large arm motor, turning motor forms, revolution worm-and-wheel gear is installed in base, revolution worm-and-wheel gear is connected with panoramic table, large arm is arranged on panoramic table, in large arm, forearm worm-and-wheel gear is installed, forearm worm-and-wheel gear is connected with forearm, wrist oscillating motor, wrist rotary electric machine is arranged in forearm, paw is arranged in wrist.
Priority Applications (1)
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CN201310705799.XA CN104723327A (en) | 2013-12-20 | 2013-12-20 | Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm |
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CN201310705799.XA CN104723327A (en) | 2013-12-20 | 2013-12-20 | Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm |
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CN104723327A true CN104723327A (en) | 2015-06-24 |
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CN201310705799.XA Pending CN104723327A (en) | 2013-12-20 | 2013-12-20 | Five-degree-of-freedom non-offset vertical multi-joint type electric mechanical arm |
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105059954A (en) * | 2015-09-22 | 2015-11-18 | 许昌学院 | Novel book clamping device with laser positioning function |
CN106437105A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨理工大学 | Suspended multi-degree of freedom painting machine for high-rise building exterior walls |
CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
CN108327573A (en) * | 2018-04-25 | 2018-07-27 | 广州市君望机器人自动化有限公司 | Mobile self charger |
WO2018161196A1 (en) * | 2017-03-05 | 2018-09-13 | 肖丽芳 | Robot mechanism for family service |
CN110405766A (en) * | 2019-07-29 | 2019-11-05 | 南京市晨枭软件技术有限公司 | A kind of the manipulator real-time positioning apparatus and control system of industrial robot |
CN111135092A (en) * | 2020-01-10 | 2020-05-12 | 山东英才学院 | Automatic medicine sorting and dispensing machine for traditional Chinese medicine |
CN113618701A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
CN113618699A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, transmission structure thereof and teleoperation equipment |
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EP0108549A1 (en) * | 1982-10-29 | 1984-05-16 | Kabushiki Kaisha Toshiba | Control system of multi-joint arm robot apparatus |
CN1411960A (en) * | 2001-10-17 | 2003-04-23 | 日本伺服株式会社 | Multi-joint industrial robot |
CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
CN202174583U (en) * | 2011-06-22 | 2012-03-28 | 滨州职业学院 | A robot arm |
CN102229142B (en) * | 2011-06-22 | 2013-07-03 | 张国海 | Five-degree-of-freedom electric manipulator |
CN103372860A (en) * | 2012-04-27 | 2013-10-30 | 顿向明 | Multi-joint dispersion driving mechanical arm |
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2013
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EP0108549A1 (en) * | 1982-10-29 | 1984-05-16 | Kabushiki Kaisha Toshiba | Control system of multi-joint arm robot apparatus |
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CN202174583U (en) * | 2011-06-22 | 2012-03-28 | 滨州职业学院 | A robot arm |
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CN103372860A (en) * | 2012-04-27 | 2013-10-30 | 顿向明 | Multi-joint dispersion driving mechanical arm |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105059954A (en) * | 2015-09-22 | 2015-11-18 | 许昌学院 | Novel book clamping device with laser positioning function |
CN106426177A (en) * | 2016-11-11 | 2017-02-22 | 西北机器有限公司 | Robot for precise assembling |
CN106437105A (en) * | 2016-12-21 | 2017-02-22 | 哈尔滨理工大学 | Suspended multi-degree of freedom painting machine for high-rise building exterior walls |
WO2018161196A1 (en) * | 2017-03-05 | 2018-09-13 | 肖丽芳 | Robot mechanism for family service |
CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
CN108327573A (en) * | 2018-04-25 | 2018-07-27 | 广州市君望机器人自动化有限公司 | Mobile self charger |
CN110405766A (en) * | 2019-07-29 | 2019-11-05 | 南京市晨枭软件技术有限公司 | A kind of the manipulator real-time positioning apparatus and control system of industrial robot |
CN111135092A (en) * | 2020-01-10 | 2020-05-12 | 山东英才学院 | Automatic medicine sorting and dispensing machine for traditional Chinese medicine |
CN113618701A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, rotary table thereof and teleoperation equipment |
CN113618699A (en) * | 2021-10-12 | 2021-11-09 | 深圳市越疆科技有限公司 | Teleoperation manipulator, transmission structure thereof and teleoperation equipment |
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Application publication date: 20150624 |