CN108789399A - A kind of light inertia mechanical arm - Google Patents
A kind of light inertia mechanical arm Download PDFInfo
- Publication number
- CN108789399A CN108789399A CN201710311581.4A CN201710311581A CN108789399A CN 108789399 A CN108789399 A CN 108789399A CN 201710311581 A CN201710311581 A CN 201710311581A CN 108789399 A CN108789399 A CN 108789399A
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- Prior art keywords
- axis
- connector assembly
- connect
- axle
- arm component
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
Abstract
The present invention relates to a kind of mechanical arm, specifically a kind of light inertia mechanical arm.Including control system, base assembly, big arm component, small arm component, connector assembly and drive system, wherein base assembly, big arm component, small arm component and connector assembly are rotatably coupled successively, and connector assembly is scalable, the drive system is set on base assembly, drive system is used to drive the flexible of big arm component, the rotation of small arm component and connector assembly and connector assembly, and control system is for controlling drive system.The present invention can allow moving component large arm and forearm to exempt the motor and speed reducer of two axis and the quality of the motor of three axis and four axis, and then achieve the purpose that the light inertia of robot movement.
Description
Technical field
The present invention relates to a kind of mechanical arm, specifically a kind of light inertia mechanical arm.
Background technology
Horizontal articulated robot, Chinese translation：Selection compliance puts together machines arm.There are four axis and four movements for tool
Degree of freedom：X, Y, the translational degree of freedom of Z-direction and rotational freedom about the z axis.There is biddability on X, Y-direction, and in Z axis
There is good rigidity, large arm and forearm are concatenated two rod structures, and the arm of similar people can put in limited sky on direction
Between middle carry out operation, then withdraw.Basic configuration is four pedestal, large arm, forearm and terminal link parts.Pedestal and large arm connect
It is connected to an axis, large arm and forearm are connected to two axis, and three axis and four axle positions are between forearm and terminal link.The motor of two axis and subtract
The motor of fast machine, three axis and four axis is arranged on forearm, larger for the manipulator inertia of high-speed motion.
Invention content
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of light inertia mechanical arm, moving component can be allowed big
Arm and forearm exempt the motor and speed reducer of two axis and the quality of the motor of three axis and four axis, and then reach robot movement and be gently used to
The purpose of amount.
To achieve the goals above, the present invention uses following technical scheme：
A kind of light inertia mechanical arm, including control system, base assembly, big arm component, small arm component, connector assembly and
Drive system, wherein base assembly, big arm component, small arm component and connector assembly are rotatably coupled successively, and the end
Component is scalable, and the drive system is set on the base assembly, and the drive system is for driving big arm component, forearm
The rotation of component and connector assembly and stretching for connector assembly, the control system is for controlling the drive system.
The base assembly includes base shell and first group of driving member in the base shell；It is described big
Arm component includes big arm housing and second group of driving member in big arm housing；The small arm component includes small arm housing
And it is set to the third group driving member in the small arm housing, the base shell, big arm housing and small arm housing turn successively
Dynamic connection, the big arm housing are sequentially connected with the drive system, first group of driving member, second group of driving member and
Third group driving member is sequentially connected successively, and first group of driving member is connect with the drive system, and the third group passes
Dynamic component is connect with the connector assembly.
First group of driving member includes first axle that is nested successively from inside to outside and being rotated rotating around first axle
Hollow shaft, first axle axis and first axle outer shaft in line, hollow shaft, first axle axis and first in the first axle
The upper end of axis outer shaft is sequentially connected with the drive system respectively, and lower end is connect with second group of driving member respectively.
The drive system includes big arm component rotating driving device, small arm component rotating driving device, connector assembly rotation
Rotary driving device and connector assembly lifting drive, the big arm component rotating driving device and small arm component rotation driving dress
Install the outside for being placed in the base shell, the connector assembly rotating driving device and the setting of connector assembly lifting drive
In the inside of the base shell, the big arm component rotating driving device is sequentially connected with the big arm housing, the forearm
Hollow shaft is sequentially connected in component rotating driving device and the first axle, and the connector assembly rotating driving device passes through the
One flexible gearing passes through the second Flexible Transmission with axis connection in the first axle, the connector assembly lifting drive
Device and the outer axis connection of first axle.
The big arm component rotating driving device includes first motor and the first speed reducer, the wherein output shaft of first motor
It is sequentially connected with the input shaft of the first speed reducer, the output shaft of first speed reducer is sequentially connected with the big arm housing；Institute
It includes the second speed reducer and the second motor being sequentially connected, the output of second speed reducer to state small arm component rotating driving device
Axis is sequentially connected with hollow shaft in the first axle；The connector assembly rotating driving device includes third motor, and described
The output shaft of three motors is connect with first flexible gearing；The connector assembly lifting drive includes the 4th electricity
The output shaft of machine, the 4th motor is connect with second flexible gearing.
Second group of driving member includes nested successively from inside to outside and can be rotating around the second axis that second axis rotates
Inner shaft, the second axis in axis and the second axis outer shaft, wherein the upper end of the second axis outer shaft passes through third flexible gearing and described the
Hollow axis connection in one axis, lower end are connect with the small arm housing, and the upper end of second axis in axis passes through the 4th flexible biography
Dynamic device and axis connection in the first axle, the upper end of the second axis inner shaft pass through the 5th flexible gearing and described the
The lower end of the outer axis connection of one axis, the second axis inner shaft and the second axis in axis is connect with the third group driving member.
The third group driving member includes that spline is female, lead screw is female and key lead screw, the spline mother and lead screw mother with flower
Key lead screw is connected, and the spline mother and the circumferentially opposed fixation of spline lead screw and can rotate around third axis, the spline mother
Connect with second axis in axis by the 5th flexible gearing, the lead screw mother by the 6th flexible gearing with it is described
The end of axis connection in second axis, the spline lead screw is pierced by by the small arm housing and is connect with the connector assembly.
The forearm element end is equipped with connector assembly position-speed detector, the connector assembly position-speed inspection
It includes Linear scaling bar, bracing wire and bracing wire servo code-disc to survey device, and wherein one end of Linear scaling bar is located at the small arm housing
It is interior and with small arm housing by move along a straight line pair connect, the other end be located at the outside of the small arm housing and with the spline silk
Bar is connected by bearing, and one end of the bracing wire is connect with one end of the Linear scaling bar, the other end and bracing wire servo code-disc
Connection, the bracing wire servo code-disc are set on the small arm housing and are connect with the control system.
Be equipped on the base assembly, big arm component and small arm component turned position for detecting each cradle head and
The servo code-disc of speed.
The both ends of each cradle head of the mechanical arm are equipped with the unlimited rotary electricity for avoiding cable relative motion
Device component.
Advantages of the present invention and advantageous effect are：
1. compared to the prior art, moving link movement inertia of the invention is smaller, such servo regenerates resistance consumption work(
Rate is smaller, more energy saving.
2. the present invention is during braking, smaller to the impact vibration of installation foundation.
Description of the drawings
One of Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the second structural representation of the present invention.
Wherein：1 system in order to control, 100 be base assembly, and 200 be big arm component, and 300 be small arm component, and 400 be end
Component, 101 be first axle, and 102 be unlimited rotary constructional element of electrical apparatus I, and 103 be the second speed reducer, and 104 be the second motor, and 105 are
First axle axis, 106 be first axle outer shaft, and 107 be first motor, and 108 be the first speed reducer, and 109 is in first axles
Hollow shaft, 110 be first axle servo code-disc, and 111 be base shell, and 112 be the first flexible gearing, and 113 be third motor,
114 be the 4th motor, and 115 be the second flexible gearing, and 201 be big arm housing, and 202 be unlimited rotary constructional element of electrical apparatus II, 203
It is the 5th flexible gearing for the 4th flexible gearing, 204,205 be third flexible gearing, and 206 be unlimited rotary
Constructional element of electrical apparatus III, 207 be the second axis inner shaft, and 208 be the second axis in axis, and 209 be the second axis outer shaft, and 210 be the second axis servo code
Disk, 211 is intersect floating bearing, and 301 be third axis rotary encoder, and 302 is female for spline, and 303 is female for lead screw, and 304 be bracing wire,
305 be Linear scaling bar, and 306 be third axis, and 307 be spline lead screw, and 308 be bracing wire servo code-disc, and 309 be bearing, and 310 are
5th flexible gearing, 311 be the 6th flexible gearing, and 312 be small arm housing, and 313 be unlimited rotary constructional element of electrical apparatus IV,
314 be second axis.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1, a kind of light inertia mechanical arm provided by the invention, including it is control system 1, base assembly 100, big
Arm component 200, small arm component 300, connector assembly 400 and drive system, wherein base assembly 100, big arm component 200, forearm
Component 300 and connector assembly 400 are rotatably coupled successively, and connector assembly 400 is scalable, and the drive system is set to base
It is connect on holder assembly 100 and with the transmission system.The drive system is for driving big arm component 200, small arm component 300
Rotation and connector assembly 400 with connector assembly 400 it is flexible, control system 1 is for controlling the drive system.
Base assembly 100 includes base shell 111 and first group of driving member in base shell 111；Large arm
Component 200 includes big arm housing 201 and second group of driving member in big arm housing 201；Small arm component 300 includes small
Arm housing 312 and the third group driving member being set in small arm housing 312, base shell 111, big arm housing 201 and forearm
Shell 312 is rotatablely connected successively, and big arm housing 201 is sequentially connected with the drive system, first group of driving member, second
Group driving member and third group driving member are sequentially connected successively, and first group of driving member is connect with the drive system, third
Group driving member is connect with connector assembly 400.
The rotation for detecting each cradle head is equipped on base assembly 100, big arm component 200 and small arm component 300
The servo code-disc of position and speed, the both ends of each cradle head are equipped with the electricity of the unlimited rotary for avoiding cable relative motion
Device component.
As shown in Fig. 2, base assembly 100 includes base shell 111 and first group of transmission in base shell 111
Component, wherein first group of driving member includes first axle that is nested successively from inside to outside and being rotated rotating around first axle 101
Hollow shaft 109, first axle axis 105 and first axle outer shaft 106 in line, in first axle in hollow shaft 109, first axle
The upper end of axis 105 and first axle outer shaft 106 respectively with drive system be sequentially connected, lower end respectively in big arm component 200
Second group of driving member connection.
The drive system includes big arm component rotating driving device, small arm component rotating driving device, connector assembly rotation
Rotary driving device and connector assembly lifting drive, wherein big arm component rotating driving device and small arm component rotation driving dress
Install the outside for being placed in base shell 111, the connector assembly rotating driving device and the connector assembly lifting drive
It is set to the inside of base shell 111, the big arm component rotating driving device is sequentially connected with big arm housing 201, described small
Arm component rotating driving device is sequentially connected with hollow shaft 109 in first axle, and the connector assembly rotating driving device passes through
First flexible gearing 112 is connect with first axle axis 105, and the connector assembly lifting drive passes through the second flexibility
Transmission device 115 is connect with first axle outer shaft 106.
Further, the big arm component rotating driving device includes first motor 107 and the first speed reducer 108, wherein
The input shaft of the output shaft of first motor 107 and the first speed reducer 108 is sequentially connected, the output shaft of the first speed reducer 108 with it is big
Arm housing 201 is sequentially connected；The small arm component rotating driving device includes the second speed reducer 103 and the second electricity being sequentially connected
Machine 104, hollow shaft 109 is sequentially connected in the output shaft and first axle of the second speed reducer 103；The connector assembly rotation driving
Device includes third motor 113, and the output shaft of third motor 113 is connect with the first flexible gearing 112；The connector assembly
Lifting drive includes the 4th motor 114, and the output shaft of the 4th motor 114 is connect with the second flexible gearing 115.
First motor 107, the second motor 104, third motor 113 and the 4th motor 114 connect with the control system 1
It connects.First motor 107 drives big arm component 200 to be rotated around first axle 101 by the first speed reducer 108, and the second motor 104 is logical
It crosses the second speed reducer 103 and passes motion to hollow shaft 109 in first axle.Third motor 113 is filled by the first Flexible Transmission
It sets 112 driving power speed changing is transferred on first axle axis 105, and allows first axle axis 105 around 101 turns of first axle
It is dynamic.4th motor 114 will drive power speed changing to be transferred on first axle outer shaft 106 by the second flexible gearing 115, and
First axle outer shaft 106 is allowed to be rotated around first axle 101.Base shell 111 is equipped with positioned at the unlimited of 101 one end of first axle
Rotate constructional element of electrical apparatus I102.
Big arm component 200 includes big arm housing 201 and second group of driving member in big arm housing 201, described
Second group of driving member includes nested successively from inside to outside and can be rotating around the second axis inner shaft 207 that second axis 314 rotates, the
Two axis in axiss 208 and the second axis outer shaft 209, wherein one end of big arm housing 201 and base shell 111 are rotatablely connected and with the
The input shaft of one speed reducer 108 is sequentially connected, and the other end of big arm housing 201 is rotatablely connected with small arm housing 312.Outside second axis
The upper end of axis 209 is connect by third flexible gearing 205 with hollow shaft in first axle 109, under the second axis outer shaft 209
End is connect with small arm housing 312.The upper end of second axis in axis 208 passes through the 4th flexible gearing 203 and first axle axis
105 connections, the upper end of the second axis inner shaft 207 are connect by the 5th flexible gearing 204 with first axle outer shaft 106, and second
The lower end of axis inner shaft 207 and the second axis in axis 208 is sequentially connected with the third group driving member in small arm component 300.
Hollow shaft 109 passes motion to the second axis outer shaft 209 by third flexible gearing 205 in first axle,
The second axis outer shaft 209 is allowed to be rotated around second axis 314.First axle axis 105 is moved by the 4th flexible gearing 203 and is passed
The second axis in axis 208 is passed, the second axis in axis 208 is allowed to be rotated around second axis 314.First axle outer shaft 106 is soft by the 5th
Property transmission device 204 pass motion to the second axis inner shaft 207, allow the second axis inner shaft 207 around second axis 314 rotate.Large arm
Shell 201 is by intersecting the rotatable connection of floating bearing 211 in small arm component 300.
One end of big arm housing 201 is equipped with the unlimited rotary constructional element of electrical apparatus II202 positioned at 101 other end of first axle, greatly
The other end of arm housing 201 is equipped with the unlimited rotary constructional element of electrical apparatus III206 positioned at 314 one end of second axis.Big arm component
Be respectively equipped at the cradle head that 200 both ends are connect with base assembly 100 and small arm component 300 first axle servo code-disc 110 and
Second axis servo code-disc 210, first axle servo code-disc 110 is for detecting big arm component 200 relative to base assembly 100 around first
101 turned position of axis and speed, the second axis servo code-disc 210 for detect small arm component 300 relative to big arm component 200 around
314 turned position of second axis and speed.
Small arm component 300 includes small arm housing 312 and the third group driving member being set in small arm housing 312, wherein
Small arm housing 312 is rotatably connected with big arm housing 201 and is fixedly connected with the second axis outer shaft 209, and small arm housing 312 passes through
The drive of second axis outer shaft 209 and rotate.The third group driving member includes spline mother 302, lead screw mother 303 and key lead screw
307, spline mother 302 and lead screw mother 303 are connected with spline lead screw 307, spline mother 302 and the circumferential phase of spline lead screw 307
It can rotate to fixation and around third axis 306.Spline mother 302 passes through the 5th flexible gearing 310 and the second axis in axis 208
Connection, lead screw mother 303 connect by the 6th flexible gearing 311 with the second axis inner shaft 207, the end of spline lead screw 307 by
Small arm housing 312 is pierced by and is connect with connector assembly 400.
One end of small arm housing 312 close to spline mother 302 be equipped with third axis rotary encoder 301, small arm housing 312 it is another
One end is equipped with the unlimited rotary constructional element of electrical apparatus IV313 positioned at two axis, 314 other end.
Further, 300 end of small arm component is equipped with connector assembly position-speed detector, connector assembly position-speed
Degree detection device is used to detect rotation position and the speed of connector assembly 400.
Connector assembly position-the speed detector includes Linear scaling bar 305, bracing wire 304 and bracing wire servo code-disc
308, wherein one end of Linear scaling bar 305 is located in small arm housing 312 and passes through secondary connect that move along a straight line with small arm housing 312
Connect, the other end is located at the outside of small arm housing 312 and is connect by bearing 309 with spline lead screw 307, one end of bracing wire 304 with
One end of Linear scaling bar 305 connects, and the other end is connect with bracing wire servo code-disc 308, and bracing wire servo code-disc 308 is set to forearm
It is connect on shell 312 and with control system 1, bracing wire servo code-disc 308 is fixedly connected with small arm housing 312.
Second axis in axis 208 passes motion to spline mother 302 by the 5th flexible gearing 310, allows spline mother 302
It is rotated around third axis 305.Second axis inner shaft 207 passes motion to lead screw mother 303 by the 6th flexible gearing 311,
Lead screw mother 303 is allowed to be rotated around third axis 306.Spline mother 302 and female 303 collective effects of lead screw, spline lead screw 307 can be prolonged
Third axis 306 move in a straight line, rotary motion and spiral motion.Linear scaling bar 305 can be extracted by bearing 309
The linear motion of spline lead screw 307, and position and speed is passed to by control system by bracing wire 304 and bracing wire servo code-disc 308
System 1.
In the present invention, base assembly 100 is stationary parts, and contains whole rotor and motor stator；Large arm group
Part 200, small arm component 300 and connector assembly 300 are moving component and contain light-weighted driving member and servo code-disc.From being
It unites in dynamic (dynamical) principle, the larger rotor of driving part quality and motor stator are arranged in stationary parts, and are moved
The smaller lightweight driving member of quality and servo code-disc are contained only in component, are that can reach mechanical arm movement inertia light weight
The advantageous effect of change, and then obtain arm motion performance and promoted in the first time of mechanical level.Due in moving link, only code
The direct current signal line of disk, and the ac power line without motor stator, therefore introducing two in each joint can be with unlimited rotary
Constructional element of electrical apparatus, for rotary joint transmit servo code-disc detection signal, this avoid the cables of traditional power supply mode
Relative motion, and then reach second promotion of the lightweight robot movement performance in electric appliance level.But by driving part to end
The transmission chain of end motion component is longer, vibration frequency can be caused to change, control accuracy stability requirement is high, the matching of driving parameter compared with
The problems such as difficult, so control system acquires the motion conditions of total movement end by servo code-disc, by repeatedly moving work
The self-learning function in period, the third time for reaching light-weighted robot movement performance in control hierarchy are promoted.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of light inertia mechanical arm, which is characterized in that including control system (1), base assembly (100), big arm component
(200), small arm component (300), connector assembly (400) and drive system, wherein base assembly (100), big arm component (200),
Small arm component (300) and connector assembly (400) are rotatably coupled successively, and the connector assembly (400) is scalable, the drive
Dynamic system is set on the base assembly (100), and the drive system is for driving big arm component (200), small arm component
(300) and the rotation of connector assembly (400) and connector assembly (400) it is flexible, the control system (1) is for controlling the drive
Dynamic system.
2. light inertia mechanical arm according to claim 1, which is characterized in that the base assembly (100) includes pedestal
Shell (111) and first group of driving member in the base shell (111)；The big arm component (200) includes big
Arm housing (201) and second group of driving member in big arm housing (201)；The small arm component (300) includes forearm
Shell (312) and the third group driving member being set in the small arm housing (312), the base shell (111), large arm shell
Body (201) and small arm housing (312) are rotatablely connected successively, and the big arm housing (201) is sequentially connected with the drive system, institute
It states first group of driving member, second group of driving member and third group driving member to be sequentially connected successively, first group of transmission structure
Part is connect with the drive system, and the third group driving member is connect with the connector assembly (400).
3. light inertia mechanical arm according to claim 2, which is characterized in that first group of driving member includes by interior
Hollow shaft (109), first axle axis in first axle that is nested successively outside and being rotated rotating around first axle (101)
(105) and first axle outer shaft (106), hollow shaft (109), first axle axis (105) and first axle in the first axle
The upper end of line outer shaft (106) is sequentially connected with the drive system respectively, and lower end is connect with second group of driving member respectively.
4. light inertia mechanical arm according to claim 3, which is characterized in that the drive system includes big arm component rotation
Rotary driving device, small arm component rotating driving device, connector assembly rotating driving device and connector assembly lifting drive, institute
It states big arm component rotating driving device and small arm component rotating driving device is set to the outside of the base shell (111), institute
It states connector assembly rotating driving device and connector assembly lifting drive is set to the inside of the base shell (111), institute
Big arm component rotating driving device is stated to be sequentially connected with the big arm housing (201), the small arm component rotating driving device with
Hollow shaft (109) is sequentially connected in the first axle, and the connector assembly rotating driving device is filled by the first Flexible Transmission
It sets (112) to connect with the first axle axis (105), the connector assembly lifting drive is filled by the second Flexible Transmission
(115) are set to connect with first axle outer shaft (106).
5. light inertia mechanical arm according to claim 4, which is characterized in that the big arm component rotating driving device packet
Include first motor (107) and the first speed reducer (108), wherein the output shaft of first motor (107) and the first speed reducer (108)
Input shaft is sequentially connected, and the output shaft of first speed reducer (108) is sequentially connected with the big arm housing (201)；It is described small
Arm component rotating driving device includes the second speed reducer (103) being sequentially connected and the second motor (104), second speed reducer
(103) output shaft is sequentially connected with hollow shaft (109) in the first axle；The connector assembly rotating driving device includes
Third motor (113), the output shaft of the third motor (113) are connect with first flexible gearing (112)；The end
It includes the 4th motor (114), the output shaft of the 4th motor (114) and the described second flexible biography to hold component lifting drive
Dynamic device (115) connection.
6. light inertia mechanical arm according to claim 3, which is characterized in that second group of driving member includes by interior
To nested successively outside and can be rotating around the second axis inner shaft (207) that second axis (314) rotates, the second axis in axis (208) and the
Two axis outer shafts (209), wherein the upper end of the second axis outer shaft (209) passes through third flexible gearing (205) and the first axle
Hollow shaft (109) connects in line, and lower end is connect with the small arm housing (312), and the upper end of second axis in axis (208) passes through
4th flexible gearing (203) is connect with the first axle axis (105), and the upper end of the second axis inner shaft (207) is logical
It crosses the 5th flexible gearing (204) to connect with the first axle outer shaft (106), the second axis inner shaft (207) and second
The lower end of axis in axis (208) is connect with the third group driving member.
7. light inertia mechanical arm according to claim 6, which is characterized in that the third group driving member includes spline
Female (302), lead screw female (303) and key lead screw (307), the spline female (302) and lead screw mother (303) with spline lead screw
(307) it is connected, the spline female (302) and the circumferentially opposed fixation of spline lead screw (307) and can be around third axis (306)
Rotation, the spline female (302) are connect by the 5th flexible gearing (310) with second axis in axis (208), the silk
Bar mother (303) is connect by the 6th flexible gearing (311) with the second axis inner shaft (207), the spline lead screw (307)
End be pierced by by the small arm housing (312) and connect with the connector assembly (400).
8. light inertia mechanical arm according to claim 7, which is characterized in that small arm component (300) end is equipped with
One speed detector of connector assembly position, the connector assembly position-speed detector include Linear scaling bar (305),
Bracing wire (304) and bracing wire servo code-disc (308), wherein one end of Linear scaling bar (305) are located at the small arm housing (312)
It is interior and with small arm housing (312) by move along a straight line pair connect, the other end be located at the outside of the small arm housing (312) and with
The spline lead screw (307) is connected by bearing (309), one end of the bracing wire (304) and the Linear scaling bar (305)
One end connects, and the other end is connect with bracing wire servo code-disc (308), and the bracing wire servo code-disc (308) is set to the forearm shell
It is connect on body (312) and with the control system (1).
9. light inertia mechanical arm according to claim 1, which is characterized in that the base assembly (100), big arm component
(200) and on small arm component (300) it is equipped with the servo code-disc of the turned position and speed for detecting each cradle head.
10. light inertia mechanical arm according to claim 1, which is characterized in that each cradle head of the mechanical arm
Both ends be equipped with the unlimited rotary constructional element of electrical apparatus for avoiding cable relative motion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311581.4A CN108789399A (en) | 2017-05-05 | 2017-05-05 | A kind of light inertia mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710311581.4A CN108789399A (en) | 2017-05-05 | 2017-05-05 | A kind of light inertia mechanical arm |
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| CN108789399A true CN108789399A (en) | 2018-11-13 |
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| CN201710311581.4A Pending CN108789399A (en) | 2017-05-05 | 2017-05-05 | A kind of light inertia mechanical arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112976038A (en) * | 2019-12-16 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Robot clamping jaw two-degree-of-freedom floating device |
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| CN104260108A (en) * | 2014-09-09 | 2015-01-07 | 上海浩淼自动化设备有限公司 | SCARA type mechanical arm |
| CN104476548A (en) * | 2014-10-24 | 2015-04-01 | 四川省绵阳西南自动化研究所 | Excavating robot autonomous working control system and method |
| CN104708624A (en) * | 2015-04-02 | 2015-06-17 | 中山展域智能科技有限公司 | Transmission mechanism for coaxially and indirectly driving arm of multi-joint robot |
| CN204772530U (en) * | 2015-07-09 | 2015-11-18 | 中国电子科技集团公司第二十一研究所 | SCARA robotic arm crowd suitable for narrow and small space |
| CN205852772U (en) * | 2016-07-15 | 2017-01-04 | 新纪元智能系统有限公司 | Multifunctional mobile robot platform |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112976038A (en) * | 2019-12-16 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Robot clamping jaw two-degree-of-freedom floating device |
| CN112976038B (en) * | 2019-12-16 | 2022-03-22 | 沈阳新松机器人自动化股份有限公司 | Robot clamping jaw two-degree-of-freedom floating device |
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Application publication date: 20181113 |