CN106607914A - Servo drive rod type variable freedom degree mechanical arm used for assembling work - Google Patents
Servo drive rod type variable freedom degree mechanical arm used for assembling work Download PDFInfo
- Publication number
- CN106607914A CN106607914A CN201611062633.0A CN201611062633A CN106607914A CN 106607914 A CN106607914 A CN 106607914A CN 201611062633 A CN201611062633 A CN 201611062633A CN 106607914 A CN106607914 A CN 106607914A
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- CN
- China
- Prior art keywords
- connecting rod
- driving lever
- base
- locking device
- wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a servo drive rod type variable freedom degree mechanical arm used for assembling work. The servo drive rod type variable freedom degree mechanical arm comprises a base, a big arm telescopic mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, an assembling clamping paw, a servo drive device and two locking devices. The big arm telescopic mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod. One end of the first connecting rod is connected with the base through a first rotation pair, and the other end of the first connecting rod is connected with one end of the third connecting rod through a third rotation pair. The other end of the third connecting rod is connected with the second connecting rod through a fourth rotation pair. One end of the second connecting rod is connected with the base through a second rotation pair, and the other end of the second connecting rod is connected with the big arm through a fifth rotation pair. The locking devices are arranged on rotation pairs. A connecting rod transmission mechanism is adopted in the servo drive rod type variable freedom degree mechanical arm for replacing traditional hydraulic transmission, and the defects that a hydraulic assembling operation mechanical arm hydraulic system is complex, and oil leakage is likely to happen can be overcome; and due to the fact that the locking devices are adopted in the rotation pairs, the three-freedom-degree assembling work can be achieved by utilizing two drive rods.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of variable free degree manipulator of servo-drive rod-type for assembling work
Arm.
Background technology
Over the years, as the personnel of labour market are in short supply, human cost is risen year by year, promotes assembling work machinery
Extensive application of the arm in assembling work.Assembling work mechanical arm has mechanical type and fluid pressure type two types, assembles at present
Work machine arm great majority are hydraulic-drivens, due to hydraulic drive using hydraulic oil as transmission power medium, exist with
Lower problem：Its startability is poor, and easily because leakage is produced after inner member abrasion, and the hydraulic oil for leaking can pollute ring
Border；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, has sometimes noise and vibration.It sometimes appear that overheated, powerless in work etc.
Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires technology
Higher, difficulty is larger.With the increase of assembling work mechanical arm function, its hydraulic system becomes increasingly complex, and breaks down more
With sudden, disguised.Mechanically-assembled Work machine arm is to realize assembling action using mechanical transmissioning piece, with firm
Durable the advantages of, but the mechanically-assembled Work machine arm of traditional single-degree-of-freedom can not complete the action of complexity, using model
Enclose extremely limited, the electronic assembling work mechanical arm of mechanical type controllable mechanism instead of hydraulic drive with linkage, when actively
When bar is driven by servomotor, automatization, NC postprocessing control are easily realized, some shortcomings of hydraulic system presence are solved, but
Existing needs the controlled motor of outfit and linkage degree of freedom equivalent amount heavy to be controlled the mechanism that complex structure is brought
Amount, movement inertia be big and the problem of high cost.
Variable Freedom Mechanism adapts to the functional requirement of different phase by being combined into new topological structure.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to assembling work mechanical arm.
The content of the invention
It is an object of the invention to provide a kind of variable free degree manipulator arm of the servo-drive rod-type for assembling work,
Overcome the shortcomings of fluid pressure type assembling work mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, overcome out
The motor of chain structure is required for the shortcoming installed in joint position, and the quantity of controllable drive motor is made less than assembling
The degree of freedom of industry robotic arm link mechanism, overcomes the electronic assembling work mechanical arm structure of existing machinery formula to need to be equipped with and connecting rod
The controlled motor of mechanism freedom equivalent amount simplifies the complexity of structure, the weight of reducing mechanism come the shortcoming being controlled
Amount, movement inertia, volume and cost.For achieving the above object, the invention provides a kind of servo-drive for assembling work
The variable free degree manipulator arm of rod-type, including base 1, large arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism, wrist
31st, retaining paw 32, servo drive, the first locking device 7 and the second locking device 29 are assembled；The large arm telescoping mechanism
Including first connecting rod 27, second connecting rod 23 and third connecting rod 24,27 one end of the first connecting rod rotates secondary by first with base 1
28 connections, the other end of first connecting rod 27 rotate pair 26 by the 3rd with 24 one end of third connecting rod and are connected, third connecting rod 24 it is another
One end rotates secondary 25 by the 4th with second connecting rod 23 and is connected；23 one end of second connecting rod rotates secondary 22 by second with base 1 and connects
Connect, 23 other end of second connecting rod rotates secondary 9 by the 5th with large arm 8 and is connected；The elevating mechanism includes forearm 14, the 5th company
Bar 18, six-bar linkage 16 and the first driving lever 20, first driving lever 20 are connected by eighth-turn dynamic secondary 21 with base 1, the
The other end of one driving lever 20 and 18 one end of the 5th connecting rod rotate secondary 19 by the 9th and are connected, the other end of the 5th connecting rod 18 with it is little
14 one end of arm rotates secondary 15 by the tenth and connects, and the other end of forearm 14 rotates secondary 13 by the 14th with wrist connecting rod 12 and connects
Connect, one end of six-bar linkage 16 rotates secondary 17 by the 15th with forearm 14 and is connected, the other end and the large arm 8 of six-bar linkage 16 are led to
Cross the 16th rotation secondary 10 to connect；The wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and handss
Wrist connecting rod 12, second driving lever 3 rotate secondary 2 by the 11st with base 1 and are connected, the other end of second driving lever 3
Secondary 4 are rotated by the 12nd with 5 one end of fourth link to be connected, 5 other end of fourth link rotates secondary by the 6th with 8 one end of large arm
6 connections, the other end of large arm 8 rotate secondary 11 by the 13rd with wrist connecting rod 12 and are connected；First locking device 7 and the second locking
Device 29 is separately mounted to the 6th rotation secondary 6 and the 4th and rotates at secondary 25, can be locked according to different operating modes in good time；Watch
Taking driving means includes the first servomotor, the second servomotor, be connected with the first driving lever 20 and the second driving lever 3 respectively with
Drive which to rotate；First locking device 7 and the second locking device 29 are locked using electromagnetic mode.
The present invention adopts controllable many bar closed chain mechanisms, the motor for overcoming open-chain structure to be required for installed in joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity are high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device on linkage additional,
And allow which that specific rotation pair is locked and loosened according to the different operating modes of mechanism, the degree of freedom of mechanism is reduced in good time, is realized
In the case where expected requirement is completed, the quantity of the controllable drive motor for using is less than assembling work robotic arm link mechanism
Degree of freedom, is capable of achieving Three Degree Of Freedom assembling work using two driving levers, overcomes existing assembling work mechanical arm to need to be equipped with
The shortcoming being controlled with the controlled motor of linkage degree of freedom equivalent amount, simplifies the complexity of structure, reduces machine
The weight of structure, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Simultaneously
Overcome fluid pressure type assembling work mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, poor reliability,
The low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is that a kind of variable free degree manipulator arm of servo-drive rod-type for assembling work of the present invention is illustrated
Figure.
Specific embodiment
A kind of variable free degree manipulator arm of the servo-drive rod-type for assembling work, including base 1, large arm telescopic machine
Structure, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, assembling retaining paw 32, servo drive, the first locking device 7
With the second locking device 29；The base 1 is arranged on removable revolving dial；The large arm telescoping mechanism includes first connecting rod
27th, second connecting rod 23 and third connecting rod 24,27 one end of the first connecting rod rotate secondary 28 by first with base 1 and are connected, and first
The other end of connecting rod 27 rotates secondary 26 by the 3rd with 24 one end of third connecting rod and is connected, and the other end of third connecting rod 24 and second connects
Bar 23 rotates secondary 25 by the 4th and connects；23 one end of second connecting rod rotates secondary 22 by second with base 1 and is connected, second connecting rod 23
The other end rotates secondary 9 by the 5th with large arm 8 and is connected；The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage
16 and first driving lever 20, first driving lever 20 is connected by eighth-turn dynamic secondary 21 with base 1, the first driving lever 20 it is another
One end and 18 one end of the 5th connecting rod rotate secondary 19 by the 9th and be connecteds, and the other end and 14 one end of forearm of the 5th connecting rod 18 pass through the
Ten rotate secondary 15 connects, and the other end of forearm 14 rotates secondary 13 by the 14th with wrist connecting rod 12 and is connected, six-bar linkage 16
One end rotates secondary 17 by the 15th with forearm 14 and is connected, and the other end and the large arm 8 of six-bar linkage 16 rotate secondary by the 16th
10 connections；The wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, described
Two driving levers 3 rotate secondary 2 by the 11st with base 1 and are connected, the other end and 5 one end of fourth link of second driving lever 3
Secondary 4 are rotated by the 12nd to connect, 5 other end of fourth link rotates pair 6 by the 6th with 8 one end of large arm and is connected, large arm 8 it is another
One end rotates secondary 11 by the 13rd with wrist connecting rod 12 and is connected；First locking device 7 and the second locking device 29 are respectively mounted
Secondary 6 and the 4th are rotated the 6th to rotate at secondary 25, can be locked according to different operating modes in good time；Servo drive includes
First servomotor, the second servomotor, are connected to drive which to rotate with the first driving lever 20 and the second driving lever 3 respectively；The
One locking device 7 and the second locking device 29 are locked using electromagnetic mode.
A kind of variable free degree manipulator arm of servo-drive rod-type for assembling work of the present invention is in operating mode operation
In, when large arm 8 is stretched, the first locking device 7 of the 6th rotation vice division chief 6 is opened, secondary 6 degree of gaining freedom of the 6th rotation, the 4th turn
The second locking device 29 at dynamic secondary 25 is locked, and the 4th rotates secondary 25 loses degree of freedom, and now, large arm 8 is realized flexible.6th turn
First locking device 7 of dynamic vice division chief 6 is locked, and the 6th rotates secondary 6 loses degree of freedom, and the 4th rotates the second locking device at secondary 25
29 open, and the 4th rotates secondary 25 degree of gaining freedom, and now, large arm 8 realizes lifting.Secondary 6 and the 4th are rotated to the 6th and rotates secondary 25
All locked, the 6th rotation secondary 6 and the 4th rotation secondary 25 lose degree of freedom, and wrist connecting rod 12 is implemented separately pitching.First
Locking device 7 and the second locking device 29 select tight lock respectively or open, complete jointly large arm liter according to different working conditions
Drop and the motion such as flexible, wrist connecting rod 12 and the pitching of wrist 31, realize the assembling work of assembling retaining paw 32.First locking
Device 7 and the second locking device 29 are locked using electromagnetic mode, and control is easily realized.
The invention enables the quantity of controllable drive motor is overcome less than the degree of freedom of assembling work robotic arm link mechanism
Existing assembling work mechanical arm needs to be equipped with and the controlled motor of linkage degree of freedom equivalent amount is scarce come what is be controlled
Point, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost, the assembling work machinery of the present invention
Each connecting rod rod member is made lighter bar by arm, so that whole mechanism kinematic inertia is little, dynamic performance is good, it is easy to control, and leads to
Setting revolving dial is crossed, the revolution work space that assembling work mechanical arm possesses 360 degree is made, Work Space Range is big.
Claims (1)
1. the variable free degree manipulator arm of a kind of servo-drive rod-type for assembling work, it is characterised in that include：Base 1,
Large arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, assembling retaining paw 32, servo drive, the
One locking device 7 and the second locking device 29；The base 1 is arranged on removable revolving dial；The large arm telescoping mechanism
Including first connecting rod 27, second connecting rod 23 and third connecting rod 24,27 one end of the first connecting rod rotates secondary by first with base 1
28 connections, the other end of first connecting rod 27 rotate pair 26 by the 3rd with 24 one end of third connecting rod and are connected, third connecting rod 24 it is another
One end rotates secondary 25 by the 4th with second connecting rod 23 and is connected；23 one end of second connecting rod rotates secondary 22 by second with base 1 and connects
Connect, 23 other end of second connecting rod rotates secondary 9 by the 5th with large arm 8 and is connected；The elevating mechanism includes forearm 14, the 5th company
Bar 18, six-bar linkage 16 and the first driving lever 20, first driving lever 20 are connected by eighth-turn dynamic secondary 21 with base 1, the
The other end of one driving lever 20 and 18 one end of the 5th connecting rod rotate secondary 19 by the 9th and are connected, the other end of the 5th connecting rod 18 with it is little
14 one end of arm rotates secondary 15 by the tenth and connects, and the other end of forearm 14 rotates secondary 13 by the 14th with wrist connecting rod 12 and connects
Connect, one end of six-bar linkage 16 rotates secondary 17 by the 15th with forearm 14 and is connected, the other end and the large arm 8 of six-bar linkage 16 are led to
Cross the 16th rotation secondary 10 to connect；The wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and handss
Wrist connecting rod 12, second driving lever 3 rotate secondary 2 by the 11st with base 1 and are connected, the other end of second driving lever 3
Secondary 4 are rotated by the 12nd with 5 one end of fourth link to be connected, 5 other end of fourth link rotates secondary by the 6th with 8 one end of large arm
6 connections, the other end of large arm 8 rotate secondary 11 by the 13rd with wrist connecting rod 12 and are connected；First locking device 7 and the second locking
Device 29 is separately mounted to the 6th rotation secondary 6 and the 4th and rotates at secondary 25, can be locked according to different operating modes in good time；Watch
Taking driving means includes the first servomotor, the second servomotor, be connected with the first driving lever 20 and the second driving lever 3 respectively with
Drive which to rotate；First locking device 7 and the second locking device 29 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062633.0A CN106607914A (en) | 2016-11-28 | 2016-11-28 | Servo drive rod type variable freedom degree mechanical arm used for assembling work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062633.0A CN106607914A (en) | 2016-11-28 | 2016-11-28 | Servo drive rod type variable freedom degree mechanical arm used for assembling work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607914A true CN106607914A (en) | 2017-05-03 |
Family
ID=58636494
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062633.0A Pending CN106607914A (en) | 2016-11-28 | 2016-11-28 | Servo drive rod type variable freedom degree mechanical arm used for assembling work |
Country Status (1)
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| CN (1) | CN106607914A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
| CN106759570A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | A kind of servomotor drives has variable active degree linkage |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021109A (en) * | 2000-07-06 | 2002-01-23 | Hitachi Constr Mach Co Ltd | Working machinery |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
-
2016
- 2016-11-28 CN CN201611062633.0A patent/CN106607914A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021109A (en) * | 2000-07-06 | 2002-01-23 | Hitachi Constr Mach Co Ltd | Working machinery |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609514A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Connecting rod type variable freedom degree timber grab driven by servo motor |
| CN106759570A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | A kind of servomotor drives has variable active degree linkage |
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Application publication date: 20170503 |
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