CN106607928A - Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work - Google Patents
Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work Download PDFInfo
- Publication number
- CN106607928A CN106607928A CN201611062940.9A CN201611062940A CN106607928A CN 106607928 A CN106607928 A CN 106607928A CN 201611062940 A CN201611062940 A CN 201611062940A CN 106607928 A CN106607928 A CN 106607928A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- assembling work
- drive
- 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.)
- Pending
Links
Classifications
-
- 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
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
-
- 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
Abstract
A servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work comprises a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, an assembling clamping paw 28, a servo drive device, a first locking device 5 and a second locking device 22. The big arm lifting mechanism comprises a big arm 20, a first connecting rod 3 and a second connecting rod 6. The wrist connecting rod pitching mechanism comprises a drive rod 17, a third connecting rod 15, a connecting piece 13 and a fourth connecting rod 11. The first locking device 5 and the second locking device 22 are arranged on a second rotation pair 4 and a fifth rotation pair 7 correspondingly. The servo drive device comprises a first servo motor connected with the drive rod 17 so as to drive the drive rod 17 to rotate. The first locking device 5 and the second locking device 22 conduct locking in an electromagnetic manner. The two-freedom-degree assembling work can be achieved by utilizing one drive rod, the number of adopted motors is reduced, and the manufacturing cost of the assembling work mechanical arm structure is reduced.
Description
Technical field
Invention is related to mechanical field, and particularly a kind of servo-drive for assembling work can variable freedom linkage machine
Tool 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 servo-drive for assembling work can variable freedom linkage machinery
Arm, overcomes the shortcomings of fluid pressure type assembling work mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage,
Overcome the motor of open-chain structure to be required for the shortcoming installed in joint position, and the quantity of controllable drive motor is less than
The degree of freedom of assembling work robotic arm link mechanism, overcomes the electronic assembling work mechanical arm structure of existing machinery formula 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.For achieving the above object, the invention provides a kind of watching for assembling work
Take driving can variable freedom linkage mechanical arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist
27th, retaining paw 28, servo drive, the first locking device 5 and the second locking device 22 are assembled；The large arm elevator
Structure includes large arm 20, first connecting rod 3 and second connecting rod 6, and 20 one end of the large arm is rotated secondary 19 by the 3rd and is connected with base 1,
The other end is rotated secondary 8 by the 6th and is connected with wrist connecting rod 9；3 one end of the first connecting rod rotates secondary 2 with base 1 by first
Connection, the other end are rotated secondary 4 by second and are connected with 6 one end of second connecting rod, and 6 other end of second connecting rod rotates secondary 21 by the 4th
It is connected with large arm 20；The wrist connecting rod luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link
11,17 one end of the driving lever is rotated secondary 18 by the 11st and is connected with base 1, and the other end rotates secondary 16 and the 3rd by the tenth
15 one end of connecting rod connects, and 15 other end of third connecting rod is rotated secondary 14 by the 9th and is connected with first end of connector 13, described
11 one end of fourth link is connected with second end of connector 13 by eighth-turn dynamic secondary 12, and the other end rotates secondary 10 by the 7th
It is connected with wrist connecting rod 9, the 3rd end of connector 13 is rotated secondary 7 by the 5th and be connected with large arm 20；The first locking dress
Put 5 and second locking device 22 be separately mounted to the second rotation secondary 4 and the 5th and rotate on secondary 7, can be according to assembling work machinery
The different operating mode of arm structure is locked in good time；Servo drive includes that the first servomotor is connected to drive with driving lever 17
Its rotation；First locking device 5 and the second locking device 22 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 two degrees of freedom assembling work using a driving lever, 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 be a kind of servo-drive for assembling work of the present invention can variable freedom linkage mechanical arm show
It is intended to.
Specific embodiment
A kind of servo-drive for assembling work can variable freedom linkage mechanical arm, including base 1, large arm liter
Descending mechanism, wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, servo drive, the first locking device 5 and the
Two locking devices 22；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 20, first
Connecting rod 3 and second connecting rod 6,20 one end of the large arm are rotated secondary 19 by the 3rd and are connected with base 1, and the other end is rotated by the 6th
Secondary 8 are connected with wrist connecting rod 9；3 one end of the first connecting rod is rotated secondary 2 by first and is connected with base 1, and the other end passes through second
Rotate secondary 4 to be connected with 6 one end of second connecting rod, 6 other end of second connecting rod is rotated secondary 21 by the 4th and is connected with large arm 20；The handss
Wrist connecting rod luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, and 17 one end of the driving lever leads to
Cross the 11st rotation secondary 18 to be connected with base 1, the other end is rotated secondary 16 by the tenth and is connected with 15 one end of third connecting rod, and the 3rd connects
15 other end of bar is rotated secondary 14 by the 9th and is connected with first end of connector 13, and 11 one end of the fourth link passes through the 8th
Rotate secondary 12 to be connected with second end of connector 13, the other end is rotated secondary 10 by the 7th and is connected with wrist connecting rod 9, connector
13 the 3rd end is rotated secondary 7 by the 5th and is connected with large arm 20；First locking device 5 and the second locking device 22 are distinguished
Secondary 4 and the 5th are rotated installed in second to rotate on secondary 7, can carry out according to the different operating mode of assembling work mechanical arm structure in good time
Locking；Servo drive includes that the first servomotor is connected to drive which to rotate with driving lever 17；First locking device, 5 He
Second locking device 22 is locked using electromagnetic mode.
At work, when large arm 20 is lifted, the first locking device 5 is opened, and second rotates secondary 4 degree of affranchising, the second lock
Tight device 22 is locked, and the 5th rotates secondary 7 loses degree of freedom, and now, large arm 20 is lifted under the effect of driving lever 17.Wrist connecting rod 9
Individually during pitching, the second locking device 22 is opened, and the 5th rotates secondary 7 degree of affranchising, and the first locking device 5 is locked, second turn
Dynamic secondary 4 lose degree of freedom, and 20 respect thereto 1 of large arm loses degree of freedom, and now wrist connecting rod 9 under the driving of driving lever 17 is realized bowing
Face upward.During whole assembling work, the first locking device 5 and the second locking device 22 are according to different working conditions, difference
The tight lock of selection is opened, and completes jointly the motions such as the pitching of large arm lifting, wrist connecting rod 12 and wrist 27, realizes assembling clamping handss
The assembling work of pawl 28.First locking device 5 and the second locking device 22 are locked using electromagnetic mode, and control is easily real
It is existing.
Claims (1)
1. a kind of servo-drive for assembling work can variable freedom linkage mechanical arm, including base 1, large arm lifting
Mechanism, wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, servo drive, the first locking device 5 and second
Locking device 22；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes that large arm 20, first connects
Bar 3 and second connecting rod 6,20 one end of the large arm are rotated secondary 19 by the 3rd and are connected with base 1, and the other end rotates secondary by the 6th
8 are connected with wrist connecting rod 9；3 one end of the first connecting rod is rotated secondary 2 by first and is connected with base 1, and the other end passes through second turn
Dynamic secondary 4 are connected with 6 one end of second connecting rod, and 6 other end of second connecting rod is rotated secondary 21 by the 4th and is connected with large arm 20；The wrist
Connecting rod luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, and 17 one end of the driving lever passes through
11st rotates secondary 18 is connected with base 1, and the other end is rotated secondary 16 by the tenth and is connected with 15 one end of third connecting rod, third connecting rod
15 other ends are rotated secondary 14 by the 9th and are connected with first end of connector 13, and 11 one end of the fourth link passes through eighth-turn
Dynamic secondary 12 are connected with second end of connector 13, and the other end is rotated secondary 10 by the 7th and is connected with wrist connecting rod 9, connector 13
The 3rd end rotate secondary 7 by the 5th and be connected with large arm 20；First locking device 5 and the second locking device 22 are pacified respectively
It is mounted in the second rotation secondary 4 and the 5th to rotate on secondary 7, can be locked according to the different operating mode of assembling work mechanical arm structure in good time
Tightly；Servo drive includes that the first servomotor is connected to drive which to rotate with driving lever 17；First locking device 5 and
Two locking devices 22 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062940.9A CN106607928A (en) | 2016-11-28 | 2016-11-28 | Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062940.9A CN106607928A (en) | 2016-11-28 | 2016-11-28 | Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607928A true CN106607928A (en) | 2017-05-03 |
Family
ID=58636593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062940.9A Pending CN106607928A (en) | 2016-11-28 | 2016-11-28 | Servo drive variable freedom degree connecting rod mechanism mechanical arm for assembling work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607928A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609520A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-activity connecting rod mechanism driven by servo motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0997238A2 (en) * | 1998-10-27 | 2000-05-03 | Fanuc Ltd | Parallel link mechanism |
| CN102990664A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Stacker crane with metamorphic function |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine with active metamorphic function |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
| CN103168570B (en) * | 2013-04-11 | 2015-04-01 | 广西大学 | Human-driven cane loader with metamorphic function |
-
2016
- 2016-11-28 CN CN201611062940.9A patent/CN106607928A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0997238A2 (en) * | 1998-10-27 | 2000-05-03 | Fanuc Ltd | Parallel link mechanism |
| CN102990664A (en) * | 2012-12-27 | 2013-03-27 | 广西大学 | Stacker crane with metamorphic function |
| CN103168570B (en) * | 2013-04-11 | 2015-04-01 | 广西大学 | Human-driven cane loader with metamorphic function |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine with active metamorphic function |
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609520A (en) * | 2016-11-30 | 2017-05-03 | 广西大学 | Variable-activity connecting rod mechanism driven by servo motor |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170503 |