CN106608530A - Servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation - Google Patents
Servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation Download PDFInfo
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- CN106608530A CN106608530A CN201611104192.6A CN201611104192A CN106608530A CN 106608530 A CN106608530 A CN 106608530A CN 201611104192 A CN201611104192 A CN 201611104192A CN 106608530 A CN106608530 A CN 106608530A
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- China
- Prior art keywords
- connecting rod
- locking device
- wrist
- mechanical arm
- freedom
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Abstract
A servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation comprises a base 1, a big arm ascending and descending mechanism, a wrist connection rod pitching mechanism, a wrist 27, a vacuum suction cup 28, a servo drive device, a first locking device 5 and a second locking device 22. The big arm ascending and descending mechanism comprises a big arm 20, a first connection rod 3 and a second connection rod 6. The wrist connection rod pitching mechanism comprises a driving rod 17, a third connection rod 15, a connection piece 13 and a fourth connection rod 11. The first locking device 5 and the second locking device 22 are installed on a second rotation pair 4 and a fifth rotation pair 7 correspondingly. The servo drive device comprises a first servo motor, wherein the first servo motor is connected with the driving rod 17 so as to drive the first servo motor to rotate. The first locking device 5 and the second locking device 22 conduct locking in an electromagnetic manner. According to the servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for the carrying operation, two-freedom-degree carrying operation can be achieved through one driving rod, the number of the adopted motor is reduced, and the manufacturing cost of the mechanical arm for the carrying operation is reduced.
Description
Technical field
Invention is related to mechanical field, and particularly a kind of servo-drive for transport operation can variable freedom linkage machine
Tool arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes transport operation machinery
Extensive application of the arm in transport operation.Transport operation mechanical arm has mechanical type and fluid pressure type two types, current transport operation
Mechanical arm great majority are hydraulic-drivens, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：
Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking pollutes the environment；Hydraulic oil
Temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, the phenomenon such as powerless in work；Hydraulic pressure
Element requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires that technology is higher, difficulty
It is larger.With the increase of transport operation mechanical arm function, its hydraulic system becomes increasingly complex, break down with more it is sudden,
It is disguised.Mechanical type transport operation mechanical arm is to realize carrying action using mechanical transmissioning piece, have the advantages that it is sturdy and durable, but
It is that traditional single-degree-of-freedom mechanical type transport operation mechanical arm can not complete complicated action, range of application is extremely limited, machinery
The electronic transport operation mechanical arm of formula controllable mechanism, with linkage hydraulic drive is instead of, when driving lever is driven by servomotor
When, automatization, NC postprocessing control are easily realized, some shortcomings that hydraulic system is present are solved, but there is needs outfit and connect
The controlled motor of linkage degree of freedom equivalent amount come be controlled mechanism's weight, movement inertia that complex structure is brought it is big and into
This high problem.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to transport operation mechanical arm.
The content of the invention
It is an object of the invention to provide a kind of servo-drive for transport operation can variable freedom linkage machinery
Arm, overcomes the shortcomings of fluid pressure type transport operation mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, overcomes
The motor of open-chain structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor less than carrying
The degree of freedom of Work machine arm link mechanism, overcomes the electronic transport operation mechanical arm structure of existing machinery formula to need to be equipped with and connecting rod machine
The controlled motor of structure degree of freedom equivalent amount simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism,
Movement inertia, volume and cost.For achieving the above object, the invention provides a kind of servo-drive for transport operation is variable
Degree of freedom linkage mechanical arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, vacuum cup
28th, servo drive, the first locking device 5 and the second locking device 22；The large arm elevating mechanism include large arm 20, the
One connecting rod 3 and second connecting rod 6, one end of the large arm 20 rotates secondary 19 and is connected with base 1 by the 3rd, and the other end passes through the 6th turn
Dynamic secondary 8 are connected with wrist connecting rod 9；The one end of the first connecting rod 3 rotates secondary 2 and is connected with base 1 by first, and the other end passes through the
Two rotate secondary 4 is connected with the one end of second connecting rod 6, and the other end of second connecting rod 6 rotates secondary 21 and is connected with large arm 20 by the 4th；It is described
Wrist connecting rod luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, the one end of the driving lever 17
Secondary 18 are rotated by the 11st to be connected with base 1, the other end rotates secondary 16 and is connected with the one end of third connecting rod 15 by the tenth, the 3rd
The other end of connecting rod 15 rotates secondary 14 and is connected with first end of connector 13 by the 9th, and the one end of the fourth link 11 passes through the
Eighth-turn dynamic secondary 12 is connected with second end of connector 13, and the other end rotates secondary 10 and is connected with wrist connecting rod 9 by the 7th, connects
3rd end of part 13 rotates secondary 7 and is connected with large arm 20 by the 5th；22 points of first locking device, 5 and second locking device
Second An Zhuan not rotate secondary 4 and the 5th and rotate on secondary 7, can carry out according to the different operating mode of transport operation mechanical arm structure in good time
Locking；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 17；The He of first locking device 5
Second locking device 22 is locked using electromagnetic mode.
The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher；Compact conformation, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage,
And allow it to be locked according to the different operating modes of mechanism and loosen specific rotation pair, the degree of freedom of mechanism is reduced in good time, realize
In the case where expected requirement is completed, the quantity of the controllable drive motor for using less than transport operation robot linkage mechanism from
By spending, two degrees of freedom transport operation is capable of achieving using a driving lever, overcomes existing transport operation mechanical arm to need to be equipped with and connect
The controlled motor of linkage degree of freedom equivalent amount simplifies the complexity of structure come the shortcoming being controlled, reducing mechanism
Weight, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Also overcome simultaneously
Fluid pressure type transport operation mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, poor reliability, transmission effect
The low shortcoming of rate.
Description of the drawings
Fig. 1 is that a kind of servo-drive for transport operation of the present invention can the signal of variable freedom linkage mechanical arm
Figure.
Specific embodiment
A kind of servo-drive for transport operation can variable freedom linkage mechanical arm, including base 1, large arm lifting
Mechanism, wrist connecting rod luffing mechanism, wrist 27, vacuum cup 28, servo drive, the first locking device 5 and the second locking
Device 22；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 20, the and of first connecting rod 3
Second connecting rod 6, one end of the large arm 20 rotates secondary 19 and is connected with base 1 by the 3rd, and the other end rotates secondary 8 and handss by the 6th
Wrist connecting rod 9 connects；The one end of the first connecting rod 3 rotates secondary 2 and is connected with base 1 by first, and the other end rotates secondary 4 by second
It is connected with the one end of second connecting rod 6, the other end of second connecting rod 6 rotates secondary 21 and is connected with large arm 20 by the 4th；The wrist connecting rod
Luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, and the one end of the driving lever 17 passes through the tenth
One rotates secondary 18 is connected with base 1, and the other end rotates secondary 16 and is connected with the one end of third connecting rod 15 by the tenth, and third connecting rod 15 is another
One end rotates secondary 14 and is connected with first end of connector 13 by the 9th, and the one end of the fourth link 11 is by the dynamic pair of eighth-turn
12 are connected with second end of connector 13, and the other end rotates secondary 10 and is connected with wrist connecting rod 9 by the 7th, and the of connector 13
Three ends rotate secondary 7 and are connected with large arm 20 by the 5th；The locking device 22 of first locking device 5 and second is separately mounted to
Second rotates secondary 4 and the 5th rotates on secondary 7, can in good time be locked according to the different operating mode of transport operation mechanical arm structure；Watch
Take driving means to be connected to drive it to rotate with driving lever 17 including the first servomotor；First locking device 5 and the second locking
Device 22 is locked using electromagnetic mode.
In operation, 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 the respect thereto 1 of large arm 20 loses degree of freedom, and now wrist connecting rod 9 is realized bowing under the driving of driving lever 17
Face upward.During whole transport operation, 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 the motions such as the pitching of large arm lifting, wrist connecting rod 12 and wrist 27 are completed jointly, realizes vacuum cup 28
Transport operation.First locking device 5 and the second locking device 22 are locked using electromagnetic mode, and control is easily realized.
Claims (1)
1. a kind of servo-drive for transport operation can variable freedom linkage mechanical arm, including base 1, large arm elevator
Structure, wrist connecting rod luffing mechanism, wrist 27, vacuum cup 28, servo drive, the first locking device 5 and the second locking dress
Put 22；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 20, first connecting rod 3 and the
Two connecting rods 6, one end of the large arm 20 rotates secondary 19 and is connected with base 1 by the 3rd, and the other end rotates secondary 8 and wrist by the 6th
Connecting rod 9 connects；The one end of the first connecting rod 3 rotates secondary 2 and is connected with base 1 by first, the other end by second rotate secondary 4 and
The one end of second connecting rod 6 connects, and the other end of second connecting rod 6 rotates secondary 21 and is connected with large arm 20 by the 4th；The wrist connecting rod is bowed
Mechanism is faced upward including driving lever 17, third connecting rod 15, connector 13 and fourth link 11, the one end of the driving lever 17 passes through the 11st
Rotate secondary 18 to be connected with base 1, the other end rotates secondary 16 and is connected with the one end of third connecting rod 15 by the tenth, and third connecting rod 15 is another
End rotates secondary 14 and is connected with first end of connector 13 by the 9th, and the one end of the fourth link 11 is by eighth-turn dynamic secondary 12
It is connected with second end of connector 13, the other end rotates secondary 10 and is connected with wrist connecting rod 9 by the 7th, the 3rd of connector 13 the
Individual end rotates secondary 7 and is connected with large arm 20 by the 5th；The locking device 22 of first locking device 5 and second is separately mounted to
Two rotate secondary 4 and the 5th rotates on secondary 7, can in good time be locked according to the different operating mode of transport operation mechanical arm structure；Servo
Driving means are connected to drive it to rotate including the first servomotor with driving lever 17；First locking device 5 and the second locking dress
Put 22 to be locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104192.6A CN106608530A (en) | 2016-12-05 | 2016-12-05 | Servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104192.6A CN106608530A (en) | 2016-12-05 | 2016-12-05 | Servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106608530A true CN106608530A (en) | 2017-05-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611104192.6A Pending CN106608530A (en) | 2016-12-05 | 2016-12-05 | Servo drive type variable-freedom-degree-linkage-mechanism mechanical arm for carrying operation |
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| Country | Link |
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| CN (1) | CN106608530A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4928047A (en) * | 1988-03-31 | 1990-05-22 | Agency Of Industrial Science & Technology, Ministry Of International Trade | Manipulator and control method |
| CN202157349U (en) * | 2011-07-07 | 2012-03-07 | 广西大学 | Controllable multiple-connecting-rod excavation mechanism |
| CN202163919U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Metamorphic stacking robot mechanism |
| CN103125214A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable-speed input multiple-freedom-degree controllable mechanism type sugarcane loader |
| CN103174178A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine |
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
| CN104631524A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
-
2016
- 2016-12-05 CN CN201611104192.6A patent/CN106608530A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4928047A (en) * | 1988-03-31 | 1990-05-22 | Agency Of Industrial Science & Technology, Ministry Of International Trade | Manipulator and control method |
| CN202163919U (en) * | 2011-07-01 | 2012-03-14 | 广西大学 | Metamorphic stacking robot mechanism |
| CN202157349U (en) * | 2011-07-07 | 2012-03-07 | 广西大学 | Controllable multiple-connecting-rod excavation mechanism |
| CN103125214A (en) * | 2013-02-08 | 2013-06-05 | 广西叶茂机电自动化有限责任公司 | Discrete variable-speed input multiple-freedom-degree controllable mechanism type sugarcane loader |
| CN103174178A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine |
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
| CN104631524A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism |
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Application publication date: 20170503 |