CN106695756A - Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation - Google Patents
Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation Download PDFInfo
- Publication number
- CN106695756A CN106695756A CN201611105625.XA CN201611105625A CN106695756A CN 106695756 A CN106695756 A CN 106695756A CN 201611105625 A CN201611105625 A CN 201611105625A CN 106695756 A CN106695756 A CN 106695756A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- transport operation
- base
- wrist
- driving lever
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
The invention discloses a servo drive rod type variable-degree-of-freedom mechanical arm for transport operation. The servo drive rod type variable-degree-of-freedom mechanical arm for transport operation comprises a base, a big arm telescopic mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a vacuum suction cup, a servo drive device and two locking devices. The big arm telescopic mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein one end of the first connecting rod is connected with the base through a first rotating pair, the other end of the first connecting rod is connected with one end of the third connecting rod through a third rotating pair, the other end of the third connecting rod is connected with the second connecting rod through a fourth rotating pair, one end of the second connecting rod is connected with the base through a second rotating pair, and the other end of the second connecting rod is connected with a big arm through a fifth rotating pair. The locking devices are installed on the corresponding rotating pairs. A connecting rod transmission mechanism is adopted to replace a traditional hydraulic transmission mode, the defects that a hydraulic system of a hydraulic transport operation mechanical arm is complex, prone to oil leakage and the like can be overcome, and as the locking devices are installed on the corresponding rotating pairs, transport operation of three degrees of freedom can be achieved through two driving rods.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servo-drive rod-type for transport operation can variable freedom machinery
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 use of the arm in transport operation.Transport operation mechanical arm has mechanical and fluid pressure type two types, current transport operation
Most of mechanical arm is hydraulic-driven, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive：
Its startability is poor, easily because producing leakage, and the hydraulic oil of leakage to pollute the environment after inner member abrasion；Hydraulic oil
Temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that the phenomenon such as overheat, powerless in work；Hydraulic pressure
Element requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance requires that technology is higher in use, 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 transport operation mechanical arm is to realize that carrying is acted using mechanical transmissioning piece, have the advantages that it is sturdy and durable, but
It is that the mechanical transport operation mechanical arm of traditional single-degree-of-freedom can not complete complicated action, range of application is extremely limited, machinery
The electronic transport operation mechanical arm of formula controllable mechanism, hydraulic drive is instead of with linkage, when driving lever is driven by servomotor
When, easily realization is automated, NC postprocessing is controlled, and solves some shortcomings that hydraulic system is present, but there is needs outfit and connect
The controlled motor of linkage free degree equivalent amount come be controlled mechanism's weight, movement inertia that complex structure is brought it is big and into
This problem high.
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 variable degree-of-freedom manipulator of servo-drive rod-type for transport operation, gram
The shortcomings of fluid pressure type transport operation mechanical arm hydraulic system element required precision high, complex structure, easy oil leakage is taken, open chain knot is overcome
The motor of structure is required for being arranged on the shortcoming of joint position, and causes that the quantity of controllable drive motor is less than transport operation machine
The free degree of tool arm link mechanism, overcomes the electronic transport operation mechanical arm structure of existing machinery formula to need to be equipped with and linkage freedom
The shortcoming for spending the controlled motor of equivalent amount to be controlled, simplifies the complexity of structure, and the weight of reducing mechanism, motion are used
Amount, volume and cost.To achieve the above object, it is variable certainly the invention provides a kind of servo-drive rod-type for transport operation
By degree mechanical arm, including base 1, large arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, vacuum cup
32nd, servo drive, the first locking device 7 and the second locking device 29；The large arm telescoping mechanism include first connecting rod 27,
Second connecting rod 23 and third connecting rod 24, one end of the first connecting rod 27 rotate secondary 28 and are connected with base 1 by first, first connecting rod
27 other end rotates secondary 26 and is connected with the one end of third connecting rod 24 by the 3rd, the other end and the second connecting rod 23 of third connecting rod 24
Secondary 25 are rotated by the 4th to connect；The one end of second connecting rod 23 rotates secondary 22 and is connected with base 1 by second, and second connecting rod 23 is another
End rotates secondary 9 and is connected with large arm 8 by the 5th；The elevating mechanism includes forearm 14, the 5th connecting rod 18, the and of six-bar linkage 16
First driving lever 20, first driving lever 20 is connected with base 1 by eighth-turn dynamic secondary 21, the other end of the first driving lever 20
Secondary 19 are rotated with the one end of the 5th connecting rod 18 by the 9th to be connected, the other end and the one end of forearm 14 of the 5th connecting rod 18 pass through the tenth turn
Dynamic secondary 15 connect, and the other end of forearm 14 rotates secondary 13 and is connected with wrist connecting rod 12 by the 14th, one end of six-bar linkage 16
Secondary 17 are rotated with forearm 14 by the 15th to be connected, the other end of six-bar linkage 16 rotates secondary 10 and connects with large arm 8 by the 16th
Connect；The wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second master
Lever 3 rotates secondary 2 and is connected with base 1 by the 11st, and the other end and the one end of fourth link 5 of second driving lever 3 pass through
12nd rotates secondary 4 connects, and the other end of fourth link 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, the other end of large arm 8
Secondary 11 are rotated with wrist connecting rod 12 by the 13rd to be connected；First locking device 7 and the second locking device 29 are separately mounted to
Six rotate secondary 6 and the 4th rotates at secondary 25, can in good time be locked according to different operating modes；Servo drive includes first
Servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively；First lock
The tight locking device 29 of device 7 and second is locked using electromagnetic mode.
The present invention uses 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 that specific rotation pair is locked and loosened according to the different operating modes of mechanism, and 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 less than transport operation robot linkage mechanism from
It is to be capable of achieving Three Degree Of Freedom transport operation using two driving levers by spending, overcomes existing transport operation mechanical arm to need to be equipped with and connect
The controlled motor of linkage free degree 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 operating efficiency.Also overcome simultaneously
Fluid pressure type transport operation mechanical arm hydraulic system element required precision is high, complex structure, easy oil leakage, poor reliability, transmission effect
The low shortcoming of rate.
Brief description of the drawings
Fig. 1 is a kind of variable degree-of-freedom manipulator schematic diagram of servo-drive rod-type for transport operation of the present invention.
Specific embodiment
A kind of variable degree-of-freedom manipulator of servo-drive rod-type for transport operation, including base 1, large arm telescoping mechanism, liter
Descending mechanism, wrist connecting rod luffing mechanism, wrist 31, vacuum cup 32, servo drive, the first locking device 7 and the second lock
Tight device 29；The base 1 is arranged on removable revolving dial；The large arm telescoping mechanism includes first connecting rod 27, second
Connecting rod 23 and third connecting rod 24, one end of the first connecting rod 27 rotate secondary 28 and are connected with base 1 by first, first connecting rod 27
The other end rotates secondary 26 and is connected with the one end of third connecting rod 24 by the 3rd, and the other end and the second connecting rod 23 of third connecting rod 24 pass through
4th rotates secondary 25 connects；The one end of second connecting rod 23 and base 1 rotate secondary 22 and be connecteds by second, the other end of second connecting rod 23 and
Large arm 8 rotates secondary 9 and connects by the 5th；The elevating mechanism includes forearm 14, the 5th connecting rod 18, six-bar linkage 16 and first
Driving lever 20, first driving lever 20 and base 1 are connected by eighth-turn dynamic secondary 21, the other end of the first driving lever 20 and the
The one end of five connecting rod 18 rotates secondary 19 and connects by the 9th, and the other end and the one end of forearm 14 of the 5th connecting rod 18 rotate secondary by the tenth
15 connections, the other end of forearm 14 rotates pair 13 and is connected with wrist connecting rod 12 by the 14th, one end of six-bar linkage 16 with it is small
Arm 14 rotates secondary 17 and connects by the 15th, and the other end of six-bar linkage 16 rotates secondary 10 and is connected with large arm 8 by the 16th；Institute
Stating wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod 12, second driving lever 3
Secondary 2 are rotated with base 1 by the 11st to be connected, the other end and the one end of fourth link 5 of second driving lever 3 pass through the 12nd
Rotate secondary 4 to connect, the other end of fourth link 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th, the other end and wrist of large arm 8
Connecting rod 12 rotates secondary 11 and connects by the 13rd；First locking device 7 and the second locking device 29 are separately mounted to the 6th rotation
Secondary 6 and the 4th rotate at secondary 25, can in good time be locked according to different operating modes；Servo drive includes the first servo electricity
Machine, the second servomotor, are connected to drive it to rotate with the first driving lever 20 and the second driving lever 3 respectively；First locking device
7 and second locking device 29 locked using electromagnetic mode.
A kind of variable degree-of-freedom manipulator of servo-drive rod-type for transport operation of the present invention in operating mode operation,
When large arm 8 is stretched, the first locking device 7 of the 6th rotation vice division chief 6 is opened, and the 6th rotates secondary 6 degree of gaining freedom, and the 4th rotates secondary
The second locking device 29 at 25 is locked, and the 4th rotates secondary 25 loses the free degree, and now, large arm 8 is realized flexible.6th rotates secondary
First locking device 7 at place 6 is locked, and the 6th rotates secondary 6 loses the free degree, and the 4th rotates the second locking device 29 dozens at secondary 25
Open, the 4th rotates secondary 25 degree of gaining freedom, and now, large arm 8 realizes lifting.The rotation secondary 25 of pair 6 and the 4th is rotated to the 6th all to enter
Row locking, the 6th rotates the rotation secondary 25 of pair 6 and the 4th loses the free degree, and wrist connecting rod 12 is implemented separately pitching.First locking
The locking device 29 of device 7 and second selects tight lock according to different working conditions, respectively or opens, it is common complete large arm lifting with
The motion such as pitching of flexible, wrist connecting rod 12 and wrist 31, realizes the transport operation of vacuum cup 32.The He of first locking device 7
Second locking device 29 is locked using electromagnetic mode, and control is easily realized.
The invention enables the free degree of the quantity less than transport operation robot linkage mechanism of controllable drive motor, overcome existing
Have the shortcomings that transport operation mechanical arm needs to be equipped with the controlled motor of linkage free degree equivalent amount to be controlled, letter
Change the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost, transport operation mechanical arm of the invention will
Each connecting rod rod member makes lighter bar, so that whole mechanism kinematic inertia is small, dynamic performance is good, it is easy to control, by setting
Revolving dial, makes the revolution working space that transport operation mechanical arm possesses 360 degree, and Work Space Range is big.
Claims (1)
1. a kind of variable degree-of-freedom manipulator of servo-drive rod-type for transport operation, it is characterised in that including：It is base 1, big
Arm telescoping mechanism, elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, vacuum cup 32, servo drive, the first locking
The locking device 29 of device 7 and second；The base 1 is arranged on removable revolving dial；The large arm telescoping mechanism includes the
One connecting rod 27, second connecting rod 23 and third connecting rod 24, one end of the first connecting rod 27 rotate secondary 28 and connect with base 1 by first
Connect, the other end of first connecting rod 27 rotates secondary 26 and is connected with the one end of third connecting rod 24 by the 3rd, the other end of third connecting rod 24
Secondary 25 are rotated with second connecting rod 23 by the 4th to be connected；The one end of second connecting rod 23 rotates secondary 22 and is connected with base 1 by second, the
The other end of two connecting rod 23 rotates secondary 9 and is connected with large arm 8 by the 5th；The elevating mechanism include forearm 14, the 5th connecting rod 18,
The driving lever 20 of six-bar linkage 16 and first, first driving lever 20 is connected with base 1 by eighth-turn dynamic secondary 21, and first actively
The other end of bar 20 rotates secondary 19 and is connected with the one end of the 5th connecting rod 18 by the 9th, the other end and the forearm 14 1 of the 5th connecting rod 18
End rotates secondary 15 and connects by the tenth, and the other end of forearm 14 rotates secondary 13 and is connected with wrist connecting rod 12 by the 14th, and the 6th
One end of connecting rod 16 rotates secondary 17 and is connected with forearm 14 by the 15th, and the other end and the large arm 8 of six-bar linkage 16 pass through the tenth
Six rotate secondary 10 connects；The wrist connecting rod luffing mechanism includes the second driving lever 3, fourth link 5, large arm 8 and wrist connecting rod
12, second driving lever 3 rotates secondary 2 and is connected with base 1 by the 11st, the other end and the 4th of second driving lever 3
The one end of connecting rod 5 rotates secondary 4 and connects by the 12nd, and the other end of fourth link 5 rotates secondary 6 and is connected with the one end of large arm 8 by the 6th,
The other end of large arm 8 rotates secondary 11 and is connected with wrist connecting rod 12 by the 13rd；First locking device 7 and the second locking device 29
It is separately mounted to the 6th rotation secondary 6 and the 4th to rotate at secondary 25, can be in good time locked according to different operating modes；Servo-drive
Device includes the first servomotor, the second servomotor, is connected to drive it with the first driving lever 20 and the second driving lever 3 respectively
Rotate；First locking device 7 and the second locking device 29 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611105625.XA CN106695756A (en) | 2016-12-05 | 2016-12-05 | Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611105625.XA CN106695756A (en) | 2016-12-05 | 2016-12-05 | Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695756A true CN106695756A (en) | 2017-05-24 |
Family
ID=58934732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611105625.XA Pending CN106695756A (en) | 2016-12-05 | 2016-12-05 | Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695756A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716328A (en) * | 2021-11-01 | 2021-11-30 | 箭牌智能科技（张家港）有限公司 | Gantry multi-shaft truss stacking manipulator |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021109A (en) * | 2000-07-06 | 2002-01-23 | Hitachi Constr Mach Co Ltd | Working machinery |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
-
2016
- 2016-12-05 CN CN201611105625.XA patent/CN106695756A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002021109A (en) * | 2000-07-06 | 2002-01-23 | Hitachi Constr Mach Co Ltd | Working machinery |
| CN104032781A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Electromagnetically-braked actively-metamorphic multi-link controllable excavation mechanism |
| CN104452840A (en) * | 2014-11-11 | 2015-03-25 | 广西大学 | Multi-degree-of-freedom metamorphism controllable excavation mechanism comprising parallelogram bucket maintaining mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113716328A (en) * | 2021-11-01 | 2021-11-30 | 箭牌智能科技（张家港）有限公司 | Gantry multi-shaft truss stacking manipulator |
| CN113716328B (en) * | 2021-11-01 | 2021-12-31 | 箭牌智能科技（张家港）有限公司 | Gantry multi-shaft truss stacking manipulator |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |
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| WD01 | Invention patent application deemed withdrawn after publication |