CN106671131A - Simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation - Google Patents
Simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation Download PDFInfo
- Publication number
- CN106671131A CN106671131A CN201611104812.6A CN201611104812A CN106671131A CN 106671131 A CN106671131 A CN 106671131A CN 201611104812 A CN201611104812 A CN 201611104812A CN 106671131 A CN106671131 A CN 106671131A
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- CN
- China
- Prior art keywords
- connecting rod
- locking device
- wrist
- mechanical arm
- servo drive
- 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
The invention discloses a simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation. The mechanical arm comprises a base 1, a big arm 17, a wrist connecting rod pitching mechanism, a wrist 21, a vacuum sucker 22, a servo drive 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 big arm 17 through a ninth rotating pair 19 and a tenth rotating pair 20 which are coaxial; the pitching mechanism is composed of a driving part 3, a first connecting rod 5, a second connecting rod 10 and a third connecting rod 9; the first locking device 8 and the second locking device 16 are arranged on a fourth rotating pair 7 and a seventh rotating pair 15 respectively and carry out timely locking according to different working conditions of a mechanism; and the first locking device 8 and the second locking device 16 carry out locking in an electromagnetic mode. According to the simple servo drive rod type mechanical arm with variable freedom degree for the carrying operation, the defect that driving motors of an open chain structure all need to be arranged at joint positions is overcome, and the number of adopted controllable driving motors is smaller than the number of the freedom degrees of a connecting rod mechanism of the mechanical arm for the carrying operation.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servo-drive rod-type variable freedom simple machine for transport operation
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 and fluid pressure type two types, carries at present
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 gross 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 transport operation mechanical arm function, its hydraulic system becomes increasingly complex, and goes out
Existing failure is with more sudden, disguised.Mechanical transport operation mechanical arm is to realize transport operation using mechanical transmissioning piece
Action, have the advantages that it is sturdy and durable, but the mechanical transport operation mechanical arm of traditional single-degree-of-freedom can not complete complexity
Action, range of application is extremely limited, the electronic transport operation mechanical arm of mechanical controllable mechanism, and with linkage liquid is instead of
Pressure transmission, when driving lever is driven by servomotor, easily realizes automation, NC postprocessing control, solves hydraulic system presence
Some shortcomings, but exist and need to be equipped with the controlled motor of linkage free degree 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 transport operation 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 mechanical arm for transport operation,
Overcome the shortcomings of fluid pressure type transport operation mechanical arm hydraulic system element required precision height, complex structure, easy oil leakage, overcome out
The motor of chain structure is required for being arranged on the shortcoming of joint position, and the quantity of controllable drive motor is made less than carrying
The free degree of industry robotic arm link mechanism, overcomes the electronic transport operation 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 transport operation
Rod-type variable freedom Simple mechanical arm, including base 1, large arm 17, wrist connecting rod luffing mechanism, wrist 21, vacuum cup 22, watch
Take driving means and the first locking device 8, the second locking device 16；The wrist connecting rod luffing mechanism is by wrist connecting rod and bows
Mechanism's composition is faced upward, the wrist connecting rod is connected in large arm 17 by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20, institute
State luffing mechanism to be made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, the one end of driving link 3 passes through first turn
Dynamic 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 is by the
Three rotate secondary 6 is connected on second connecting rod 10；The another two ends of second connecting rod 10 rotate secondary 11 with wrist connecting rod 12 by the 5th respectively
Connection, rotates secondary 7 and is connected with third connecting rod 9 by the 4th.Third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th, institute
State the first locking device 8, the second locking device 16 to be separately mounted in secondary 7, the 7th rotation secondary 15 of the 4th rotation, according to mechanism not
Same operating mode is locked in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；
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 accumulated 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 free degree 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 transport operation robotic arm link mechanism
The free degree, using two driving levers Three Degree Of Freedom transport operation is capable of achieving, and overcomes existing transport operation mechanical arm to need to be equipped with
The shortcoming being controlled with the controlled motor of linkage free degree 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 operating efficiency.Simultaneously
Overcome fluid pressure type transport operation 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 knot of servo-drive rod-type variable freedom Simple mechanical arm for transport operation of the present invention
Structure schematic diagram.
Specific embodiment
A kind of servo-drive rod-type variable freedom Simple mechanical arm for transport operation, including base 1, large arm 17, hand
Wrist connecting rod luffing mechanism, wrist 21, vacuum cup 22, servo drive and the first locking device 8, 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 12 and pitching machine
Structure is constituted, 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 to bow
Face upward mechanism to be made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, the one end of driving link 3 rotates secondary by first
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 turn
Dynamic secondary 6 are connected on second connecting rod 10；The another two ends of second connecting rod 10 rotate secondary 11 and are connected with wrist connecting rod 12 by the 5th respectively,
Secondary 7 are rotated by the 4th to be connected with third connecting rod 9.Third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th, and described the
One 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 is locked in good time；Servo drive includes the first servomotor, is connected to drive it to rotate with driving lever 3；First
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 the free degree.Now, third connecting rod 9, second connecting rod 10, wrist connect
Bar 12 and large arm 17 are mutually relative to lose the free degree, 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 the free degree, large arm respect thereto to lose the free degree, 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 transport operation, 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 transport operation of vacuum cup 22.First locking device 8, the second locking device 16 are adopted
Electromagnetic mode is locked, and control is easily realized.
Claims (1)
1. a kind of servo-drive rod-type variable freedom Simple mechanical arm for transport operation, it is characterised in that include：Base 1,
Large arm 17, wrist connecting rod luffing mechanism, wrist 21, vacuum cup 22, servo drive and the first locking device 8, second
Locking device 16；The base 1 is arranged on removable revolving dial；The wrist connecting rod luffing mechanism by wrist connecting rod and
Luffing mechanism is constituted, and the wrist connecting rod is connected in large arm 17 by coaxial the 9th rotation secondary 19 and the tenth rotation secondary 20,
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 passes through first
Rotate secondary 2 to be connected on base 1, 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
3rd rotates secondary 6 is connected on second connecting rod 10；The another two ends of second connecting rod 10 rotate secondary 11 with wrist connecting rod by the 5th respectively
12 connections, rotate secondary 7 and are connected with third connecting rod 9 by the 4th；Third connecting rod 9 rotates secondary 18 and is connected with large arm 17 by the 6th,
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, according to mechanism
Different operating modes are locked in good time；Servo drive includes the first servomotor, is connected to drive its turn with driving lever 3
It is dynamic；First locking device 8, the second locking device 16 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104812.6A CN106671131A (en) | 2016-12-05 | 2016-12-05 | Simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104812.6A CN106671131A (en) | 2016-12-05 | 2016-12-05 | Simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671131A true CN106671131A (en) | 2017-05-17 |
Family
ID=58867555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611104812.6A Pending CN106671131A (en) | 2016-12-05 | 2016-12-05 | Simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671131A (en) |
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 |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | トヨタ自動車株式会社 | Robot hand |
| 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 |
-
2016
- 2016-12-05 CN CN201611104812.6A patent/CN106671131A/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 |
| JP2014208387A (en) * | 2013-04-16 | 2014-11-06 | 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 |
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Application publication date: 20170517 |