CN106671128A - Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work - Google Patents
Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work Download PDFInfo
- Publication number
- CN106671128A CN106671128A CN201611062372.2A CN201611062372A CN106671128A CN 106671128 A CN106671128 A CN 106671128A CN 201611062372 A CN201611062372 A CN 201611062372A CN 106671128 A CN106671128 A CN 106671128A
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- CN
- China
- Prior art keywords
- connecting rod
- locking device
- wrist
- freedom
- assembling work
- 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
- B25J18/00—Arms
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- 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
- 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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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A servo driving rod type variable-freedom-degree simple mechanical arm for assembling work comprises a base (1), a large arm (17), a wrist connecting rod pitching mechanism, a wrist (21), an assembling clamping gripper (22), a servo driving device, a first locking device (8) and a second locking device (16); the wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism, the wrist connecting rod is connected to the large arm (17) through a ninth rotation pair (19) and a tenth rotation pair (20) coaxial with the ninth rotation pair (19), and the pitching mechanism is composed of a driving piece (3), a first connecting rod (5), a second connecting rod (10) and the third connecting rod (9); the first locking device (8) and the second locking device (16) are installed on a fourth rotation pair (7) and a seventh rotation pair (15) correspondingly, so that locking is conducted at the right time according to different work conditions of a mechanism; and electromagnetic locking is achieved through the first locking device (8) and the second locking device (16). According to the servo driving rod type variable-freedom simple mechanical arm for the assembling work, the defect that driving motors of a chain-opening structure all need to be installed on the joint position is overcome, and the number of the used controllable driving motors is smaller than the degree of freedom of a mechanical arm connecting rod mechanism for assembling work.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servo-drive rod-type variable freedom simple machine for assembling work
Tool arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises 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, at present assembling
The mechanical arm great majority of Work machine arm are hydraulic-drivens, due to hydraulic drive using hydraulic oil as Jie for transmitting power
, there is problems with matter：Its startability is poor, easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking
Pollute 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, work
Make the phenomenon such as powerless；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, maintains in use
Requirement technology is higher, and difficulty is larger.With the increase of assembling work mechanical arm function, its hydraulic system becomes increasingly complex, and goes out
Existing failure is with more sudden, disguised.Mechanically-assembled Work machine arm is to realize assembling work using mechanical transmissioning piece
Action, have the advantages that it is sturdy and durable, but the mechanically-assembled Work machine arm of traditional single-degree-of-freedom can not complete complexity
Action, range of application is extremely limited, and the electronic assembling work mechanical arm of mechanical type controllable mechanism instead of liquid with linkage
Pressure transmission, when driving lever is driven by servomotor, easily realizes automatization, NC postprocessing control, solves hydraulic system presence
Some shortcomings, but exist and need to be equipped with the controlled motor of linkage degree of freedom equivalent amount to be controlled complex structure
Mechanism's weight, big and high cost the problem of movement inertia brought.
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 assembling work mechanical arm.
The content of the invention
It is an object of the invention to provide a kind of servo-drive rod-type variable freedom Simple manipulator for assembling work
Arm, overcomes the shortcomings of fluid pressure type assembling work 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, and causes the quantity of controllable drive motor less than dress
Degree of freedom with Work machine arm link mechanism, overcome the electronic assembling work mechanical arm structure of existing machinery formula need to be equipped with
The controlled motor of linkage degree of freedom equivalent amount simplifies the complexity of structure, reducing mechanism come the shortcoming being controlled
Weight, movement inertia, volume and cost.For achieving the above object, the invention provides a kind of servo for assembling work
Drive rod-type variable freedom Simple mechanical arm, including base 1, large arm 17, wrist connecting rod luffing mechanism, wrist 21, mounting clip
Hold paw 22, servo drive and the first locking device 8, the second locking device 16；The wrist connecting rod luffing mechanism by
Wrist connecting rod and luffing mechanism are constituted, and the wrist connecting rod is connected to by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20
In large arm 17, the luffing mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, driving link 3 one
End rotates secondary 2 and is connected on base 1 by first, and the other end rotates secondary 4 and is connected with first connecting rod 5 by second；First connecting rod 5
The other end rotates secondary 6 and is connected on second connecting rod 10 by the 3rd；The another two ends of second connecting rod 10 rotate secondary 11 by the 5th respectively
It is connected with wrist connecting rod 12, rotates secondary 7 by the 4th and be connected with third connecting rod 9.Third connecting rod 9 by the 6th rotate secondary 18 with it is big
Arm 17 connects, and first locking device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate secondary 15
On, locked in good time according to the different operating mode of mechanism；Servo drive includes the first servomotor, is connected with driving lever 3
To drive it to rotate；First locking device 8, the second locking device 16 are 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 is less than assembling work robotic arm link mechanism
Degree of freedom, using two driving levers Three Degree Of Freedom assembling work is capable of achieving, and 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 a kind of servo-drive rod-type variable freedom Simple mechanical arm for assembling work of the present invention
Structural representation.
Specific embodiment
A kind of servo-drive rod-type variable freedom Simple mechanical arm for assembling work, including base 1, large arm 17,
Wrist connecting rod luffing mechanism, wrist 21, assembling retaining paw 22, servo drive and the first locking device 8, second are locked
Device 16；The base 1 is arranged on removable revolving dial；The wrist connecting rod luffing mechanism is by wrist connecting rod and pitching
Mechanism constitutes, and the wrist connecting rod is connected in large arm 17 by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20, described
Luffing mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, and the one end of driving link 3 rotates by first
Secondary 2 are connected on base 1, and the other end rotates secondary 4 and is connected with first connecting rod 5 by second；The other end of first connecting rod 5 passes through the 3rd
Rotate secondary 6 to be connected on second connecting rod 10；The another two ends of second connecting rod 10 rotate secondary 11 and connect with wrist connecting rod 12 by the 5th respectively
Connect, rotate secondary 7 by the 4th and be connected with third connecting rod 9.Third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th, described
First locking device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate on secondary 15, different according to mechanism
Operating mode locked in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；The
One locking device 8, the second locking device 16 are locked using electromagnetic mode.
In each operating mode operation, during 17 lifting of large arm, the second locking device 16 is opened, and the 7th rotates secondary 15 affranchises
Degree, the first locking device 8 is locked, i.e., the 4th kinematic pair 7 loses degree of freedom.Now, third connecting rod 9, second connecting rod 10, wrist connect
Bar 12 and large arm 17 are mutually relative to lose degree of freedom, links integral.Now motion passes through first connecting rod 5 under driving link driving
Large arm 17 is delivered to, large arm 17 rotates pair 13 around the 7th and eighth-turn dynamic secondary 15 is rotated and realizes large arm lifting.Wrist connecting rod pitching
When, the first locking device 8 is opened, the degree of affranchising of the 4th kinematic pair 7, and the second locking device 16 is locked, and the 7th rotates secondary 15 loses
Go degree of freedom, large arm respect thereto to lose degree of freedom, now move across first connecting rod 5 and second under the driving of driving link 3 and connect
Bar 10 passes to wrist connecting rod 12 and realizes wrist connecting rod pitching.During whole assembling work, the first locking device 8, second is locked
Tight device 16 selects respectively tight lock or opens according to different working conditions, complete jointly the lifting of large arm 2, wrist connecting rod 12 with
Pitching of wrist 21 etc. is moved, and realizes the assembling work of assembling retaining paw 22.First locking device 8, the second locking device 16
Locked using electromagnetic mode, control is easily realized.
Claims (1)
1. a kind of servo-drive rod-type variable freedom Simple mechanical arm for assembling work, it is characterised in that include：Base
1st, large arm 17, wrist connecting rod luffing mechanism, wrist 21, assembling retaining paw 22, servo drive and the first locking device
8th, the second locking device 16；The base 1 is arranged on removable revolving dial；The wrist connecting rod luffing mechanism is by wrist
Connecting rod and luffing mechanism are constituted, and the wrist connecting rod is connected to large arm by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20
On 17, the luffing mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, and the one end of driving link 3 leads to
Cross the first rotation secondary 2 to be connected on base 1, the other end rotates secondary 4 and is connected with first connecting rod 5 by second；First connecting rod 5 is another
End rotates secondary 6 and is connected on second connecting rod 10 by the 3rd；The another two ends of second connecting rod 10 rotate secondary 11 and handss by the 5th respectively
Wrist connecting rod 12 connects, and rotates secondary 7 by the 4th and is connected with third connecting rod 9, and third connecting rod 9 rotates secondary 18 with large arm 17 by the 6th
Connection, first locking device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate on secondary 15, press
Locked in good time according to the different operating mode of mechanism；Servo drive includes the first servomotor, is connected to drive with driving lever 3
Its rotation；First locking device 8, the second locking device 16 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062372.2A CN106671128A (en) | 2016-11-28 | 2016-11-28 | Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062372.2A CN106671128A (en) | 2016-11-28 | 2016-11-28 | Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671128A true CN106671128A (en) | 2017-05-17 |
Family
ID=58866936
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062372.2A Pending CN106671128A (en) | 2016-11-28 | 2016-11-28 | Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671128A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| 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 |
| JP5928729B2 (en) * | 2013-04-16 | 2016-06-01 | トヨタ自動車株式会社 | Robot hand |
-
2016
- 2016-11-28 CN CN201611062372.2A patent/CN106671128A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320479A (en) * | 2011-07-01 | 2012-01-18 | 广西大学 | Controllable mechanism type palletizing robot mechanism |
| JP5928729B2 (en) * | 2013-04-16 | 2016-06-01 | トヨタ自動車株式会社 | Robot hand |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
| CN107243898B (en) * | 2017-06-09 | 2024-01-30 | 陕西科技大学 | Connecting rod type intelligent robot |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170517 |
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| WD01 | Invention patent application deemed withdrawn after publication |