CN106609526A - Servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work - Google Patents
Servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work Download PDFInfo
- Publication number
- CN106609526A CN106609526A CN201611104808.XA CN201611104808A CN106609526A CN 106609526 A CN106609526 A CN 106609526A CN 201611104808 A CN201611104808 A CN 201611104808A CN 106609526 A CN106609526 A CN 106609526A
- Authority
- CN
- China
- Prior art keywords
- servo
- rod
- driving lever
- connecting rod
- driving
- 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
- 230000007246 mechanism Effects 0.000 title abstract description 9
- 210000000707 wrist Anatomy 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000009189 diving Effects 0.000 abstract 1
- 230000000630 rising effect Effects 0.000 abstract 1
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/301—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work. The servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work comprises a base 9, a first driving rod 1, a second diving rod 2, a third driving rod 3, a third connecting rod 4, a fourth connecting rod 7, a first connecting rod 5, a big arm 6, a wrist 20, a vacuum chuck 8 and a servo driving device. One end of the big arm 6 is connected with the fourth connecting rod 7 through a ninth revolute pair 19, and the other end of the big arm 6 is connected with the vacuum chuck 8 through the wrist 20. The servo driving device comprises a first servo motor, a second servo motor and a third servo motor, the first servo motor, the second servo motor and the third servo motor are connected with the first driving rod 1, the second driving rod 2 and the third driving rod 3 to drive the first driving rod 1, the second driving rod 2 and the third driving rod 3 to rotate, the first driving rod 1, the second driving rod 2 and the third driving rod 3 are used for driving jointly to complete rising and falling of the big arm, pitching of the wrist 20 and other motion, and thus transport work is achieved through the vacuum chuck 8. According to the servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work, the motors are mounted on the base, and the problems that an open-chain mechanism type arm is large in weight, poor in dynamic performance and the like are solved.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servo-drive multi-activity degree linkage for transport operation is new
Type mechanical 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, solve some shortcomings of hydraulic system presence.
The content of the invention
It is an object of the invention to provide a kind of servo-drive multi-activity degree linkage Novel machine for transport operation
Tool arm, overcomes the shortcomings of fluid pressure type transport operation mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, gram
The motor for taking open-chain structure is required for being arranged on the shortcoming of joint position, simplifies the complexity of structure, reducing mechanism
Weight, movement inertia, volume and cost.For achieving the above object, the present invention provides a kind of servo-drive for transport operation
Multi-activity degree linkage New Type of Robot Arm, including base 9, the first driving lever 1, the second driving lever 2, the 3rd driving lever the 3, the 3rd
Connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, vacuum cup 8 and servo drive, described first actively
The one end of bar 1 rotates secondary 11 and is connected with base 9 by first, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and the 3rd
The other end of connecting rod 4 rotates secondary 15 and is connected with first connecting rod 5 by the 5th；Described one end of second driving lever 2 rotates secondary by second
12 are connected with base 9, and the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 passes through
3rd rotates secondary 13 is connected with base 9, and the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 leads to
Cross the 9th rotation secondary 19 to be connected with fourth link 7, the other end is connected by wrist 20 with vacuum cup 8, servo drive bag
The first servomotor, the second servomotor, the 3rd servomotor are included, respectively with the first driving lever 1, the second driving lever 2 and the 3rd
Driving lever 3 connects to drive it to rotate, and the first driving lever 1, the second driving lever 2 and common driving of the 3rd driving lever 3 complete large arm
The motion such as lifting and the pitching of wrist 20, realizes the transport operation of vacuum cup 8.
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, overcome fluid pressure type transport operation machinery
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 a kind of servo-drive multi-activity degree linkage New Type of Robot Arm for transport operation of the present invention
Structural scheme of mechanism.
Specific embodiment
A kind of servo-drive multi-activity degree linkage New Type of Robot Arm for transport operation, including the master of base 9, first
Lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, vacuum
Sucker 8 and servo drive；The base 9 is arranged on removable revolving dial；Described one end of first driving lever 1 leads to
Cross the first rotation secondary 11 to be connected with base 9, the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and third connecting rod 4 is another
End rotates secondary 15 and is connected with first connecting rod 5 by the 5th；Described one end of second driving lever 2 rotates secondary 12 with base 9 by second
Connection, the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 rotates secondary by the 3rd
13 are connected with base 9, and the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 rotates by the 9th
Secondary 19 are connected with fourth link 7, and the other end is connected by wrist 20 with vacuum cup 8, and servo drive includes the first servo
Motor, the second servomotor, the 3rd servomotor, are connected respectively with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3
To drive it to rotate, the first driving lever 1, the second driving lever 2 and common driving of the 3rd driving lever 3 complete large arm lifting and wrist 20
The motion such as pitching, realize the transport operation of vacuum cup 8.
Claims (1)
1. a kind of servo-drive multi-activity degree linkage New Type of Robot Arm for transport operation, including base 9, first is actively
Bar 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, vacuum are inhaled
Disk 8 and servo drive, the base 9 is arranged on removable revolving dial；Described one end of first driving lever 1 passes through
First rotates secondary 11 is connected with base 9, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, the other end of third connecting rod 4
Secondary 15 are rotated by the 5th to be connected with first connecting rod 5；Described one end of second driving lever 2 rotates secondary 12 and connects with base 9 by second
Connect, the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 rotates secondary 13 by the 3rd
It is connected with base 9, the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 rotates secondary by the 9th
19 are connected with fourth link 7, and the other end is connected by wrist 20 with vacuum cup 8, and servo drive includes the first servo electricity
Machine, the second servomotor, the 3rd servomotor, be connected with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 respectively with
It is driven to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104808.XA CN106609526A (en) | 2016-12-05 | 2016-12-05 | Servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104808.XA CN106609526A (en) | 2016-12-05 | 2016-12-05 | Servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106609526A true CN106609526A (en) | 2017-05-03 |
Family
ID=58635926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611104808.XA Pending CN106609526A (en) | 2016-12-05 | 2016-12-05 | Servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106609526A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11343631A (en) * | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | Parallel link device for wheel loader |
| US6032746A (en) * | 1998-08-17 | 2000-03-07 | Lowery; Lloyd | Road leveller |
| DE10219205A1 (en) * | 2002-04-29 | 2003-11-13 | Helmut Schmidt | Mobile universal working appliance especially for building sites has two-segment articulated arm folded flat on chassis when not in use, but with wide working area |
| CN202559402U (en) * | 2012-01-12 | 2012-11-28 | 广西大学 | Controllable loading machine with high load capacity |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
| CN104912129A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Controllable multi-link type excavating mechanism |
-
2016
- 2016-12-05 CN CN201611104808.XA patent/CN106609526A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11343631A (en) * | 1998-06-01 | 1999-12-14 | Maruma Technica Kk | Parallel link device for wheel loader |
| US6032746A (en) * | 1998-08-17 | 2000-03-07 | Lowery; Lloyd | Road leveller |
| DE10219205A1 (en) * | 2002-04-29 | 2003-11-13 | Helmut Schmidt | Mobile universal working appliance especially for building sites has two-segment articulated arm folded flat on chassis when not in use, but with wide working area |
| CN202559402U (en) * | 2012-01-12 | 2012-11-28 | 广西大学 | Controllable loading machine with high load capacity |
| CN104612189A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing function |
| CN104912129A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Controllable multi-link type excavating mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737720A (en) | One kind drives two degrees of freedom linkage Simple welding mechanical arm using servomotor | |
| CN106671136A (en) | Two-motion-range closed-chain connecting rod mechanism mechanical arm for assembling work | |
| CN106737716A (en) | A kind of mobility linkage Simple mechanical arm of servo-drive two for assembling work | |
| CN106609526A (en) | Servo-drive multi-movement-degree connecting-rod mechanism type novel mechanical arm used for transport work | |
| CN106671135A (en) | Assembling operation mechanical arm of variable degree-of-freedom connecting rod mechanism comprising revolute pair locking device | |
| CN106826745A (en) | One kind drives Three-freedom-degree connection rod mechanism feed stacking machine arm using servomotor | |
| CN106607914A (en) | Servo drive rod type variable freedom degree mechanical arm used for assembling work | |
| CN106799731A (en) | It is a kind of to contain the variable freedom linkage transport operation mechanical arm for rotating secondary locking device | |
| CN106759569A (en) | One kind drives the simple linkage of two degrees of freedom using servomotor | |
| CN106608543A (en) | Two-freedom-degree connecting rod mechanism simple fodder stacking mechanical arm driven by servo motors | |
| CN106826910A (en) | A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work | |
| CN106671130A (en) | Double-servo-drive multi-rod mechanical arm for assembling work | |
| CN106737728A (en) | A kind of mobility linkage Simple mechanical arm of servo-drive two for transport operation | |
| CN106607927A (en) | Servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work | |
| CN106671129A (en) | Servo drive rod type variable freedom degree mechanical arm for assembling work | |
| CN106799322A (en) | One kind drives multiple degrees of freedom linkage novel coating Work machine arm using servomotor | |
| CN106737721A (en) | One kind drives the simple painted Work machine arm of two degrees of freedom linkage using servomotor | |
| CN106695872A (en) | Servo-drive three-motion-degree connecting rod mechanism mechanical arm for carrying operation | |
| CN106759566A (en) | One kind drives the simple timber grab of two degrees of freedom linkage using servomotor | |
| CN106671132A (en) | Double-servo-drive multi-rod type mechanical arm for carrying operation | |
| CN106607885A (en) | Multi-freedom-degree connecting rod mechanism fodder stacking mechanical arm driven by servo motors | |
| CN106799744A (en) | One kind drives multiple degrees of freedom linkage novel fodder stacking machine arm using servomotor | |
| CN106607875A (en) | Servo drive type variable-motion-degree-linkage-mechanism mechanical arm for carrying operation | |
| CN108118730A (en) | A kind of three mobility linkage mechanical arm of servo-drive for assembling work | |
| CN106671128A (en) | Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
|
| WD01 | Invention patent application deemed withdrawn after publication |