CN106695876A - Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation - Google Patents
Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation Download PDFInfo
- Publication number
- CN106695876A CN106695876A CN201611105622.6A CN201611105622A CN106695876A CN 106695876 A CN106695876 A CN 106695876A CN 201611105622 A CN201611105622 A CN 201611105622A CN 106695876 A CN106695876 A CN 106695876A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- wrist
- large arm
- rod
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- 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
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
-
- 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
Abstract
A dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a vacuum suction cup 28, a servo drive device, a first locking device 5 and a second drive device 12. The large arm lifting mechanism comprises a large arm 8, a fourth connecting rod 3 and a fifth connecting rod 6. The wrist connecting rod pitching mechanism comprises an active rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11. The first locking device 5 and the second locking device 12 are mounted on an eleventh rotary pair 4 and an eighth rotary pair 7 correspondingly, and locking can be carried out in good time according to different work conditions of a mechanical arm structure for handling operation. The servo drive device comprises a first servo motor, and the first servo motor is connected with the active rod 16 so as to drive the active rod 16 to rotate. The first locking device 5 and the second locking device 12 achieve locking in an electromagnetic manner. According to the dual servo drive variable-freedom-degree multi-rod type mechanical arm, handling operation of two freedom degrees can be achieved through the only one active rod, the number of adopted motors is reduced, and the manufacturing cost of the mechanical arm structure for handling operation is reduced.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of double servo-drive variable freedom multi-rod machines 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 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 double servo-drive variable freedom multi-rod mechanical arms for transport operation,
Overcome the shortcomings of fluid pressure type transport operation mechanical arm hydraulic system element required precision high, complex structure, easy oil leakage, overcome open chain
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
The free degree of robot linkage mechanism, overcomes the electronic transport operation mechanical arm structure of existing machinery formula to need to be equipped with linkage certainly
The shortcoming being controlled by the controlled motor of degree equivalent amount, simplifies the complexity of structure, the weight of reducing mechanism, motion
Inertia, volume and cost.To achieve the above object, become freely the invention provides a kind of double servo-drives for transport operation
Degree multi-rod mechanical arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, vacuum cup 28, servo
Drive device, the first locking device 5 and the second locking device 12；The large arm elevating mechanism includes large arm 8, the and of fourth link 3
5th connecting rod 6, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 and hand by the 9th
Wrist connecting rod 10 is connected；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end is rotated by the 11st
Secondary 4 are connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connects
Bar luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, and the one end of the driving lever 16 passes through
First rotates secondary 15 is connected with base 1, and the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, first connecting rod 18
The other end rotates secondary 19 and be connected with the one end of second connecting rod 21 by the 3rd, the other end of second connecting rod 21 by the 5th rotate pair 22 and
Wrist connecting rod 10 is connected；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, and the other end passes through the 4th turn
Dynamic secondary 20 are connected with second connecting rod 21；First locking device 5 and the second locking device 12 are separately mounted to secondary 4 Hes of the 11st rotation
In eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of transport operation mechanical arm structure；Servo drive includes
First servomotor is connected to drive it to rotate with driving lever 16；First locking device 5 and the second locking device 12 use electromagnetism
Mode is locked.
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 two degrees of freedom transport operation using a driving lever 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 that a kind of double servo-drive variable freedom multi-rod mechanical arms for transport operation of the present invention are illustrated
Figure.
Specific embodiment
A kind of double servo-drive variable freedom multi-rod mechanical arms for transport operation, including base 1, large arm lift
Structure, wrist connecting rod luffing mechanism, wrist 27, vacuum cup 28, servo drive, the first locking device 5 and the second locking dress
Put 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3 and the
Five connecting rods 6, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 and wrist by the 9th
Connecting rod 10 is connected；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates secondary by the 11st
4 are connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod
Luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, and the one end of the driving lever 16 is by the
One rotates secondary 15 is connected with base 1, and the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, and first connecting rod 18 is another
One end rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, and the other end of second connecting rod 21 rotates secondary 22 and hand by the 5th
Wrist connecting rod 10 is connected；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, and the other end is rotated by the 4th
Secondary 20 are connected with second connecting rod 21；First locking device 5 and the second locking device 12 are separately mounted to the 11st rotation secondary 4 and the
In eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of transport operation mechanical arm structure；Servo drive includes the
One servomotor is connected to drive it to rotate with driving lever 16；First locking device 5 and the second locking device 12 use electromagnetism side
Formula is locked.
At work, when large arm 8 is lifted, the first locking device 5 is opened, and the 11st rotates secondary 4 degree of affranchising, the second lock
Tight device 12 is closed, and eighth-turn dynamic secondary 7 loses the free degree, and now, large arm 8 is lifted under the effect of driving lever 16.Wrist connecting rod 10
During independent pitching, the second locking device 12 is opened, and eighth-turn 7 degree of affranchising of dynamic pair, the first locking device 5 is locked, and the 11st
Rotate secondary 4 and lose the free degree, the respect thereto 1 of large arm 8 loses the free degree, now wrist connecting rod is realized bowing under the driving of driving lever 16
Face upward.During whole transport operation, the first locking device 5 and the second locking device 12 are according to different working conditions, difference
Tight lock or opening are selected, vacuum is realized in the motion such as the lifting of common completion large arm and the pitching of flexible, wrist connecting rod 10 and wrist 27
The transport operation of sucker 28.First locking device 5 and the second locking device 12 can be locked using electromagnetic mode, and control is easy
Realize.
Claims (1)
1. a kind of double servo-drive variable freedom multi-rod mechanical arms for transport operation, including base 1, large arm lift
Structure, wrist connecting rod luffing mechanism, wrist 27, vacuum cup 28, servo drive, the first locking device 5 and the second locking dress
Put 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3 and the
Five connecting rods 6, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 and wrist by the 9th
Connecting rod 10 is connected；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end rotates secondary by the 11st
4 are connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The wrist connecting rod
Luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, and the one end of the driving lever 16 is by the
One rotates secondary 15 is connected with base 1, and the other end rotates secondary 17 and is connected with the one end of first connecting rod 18 by second, and first connecting rod 18 is another
One end rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, and the other end of second connecting rod 21 rotates secondary 22 and hand by the 5th
Wrist connecting rod 10 is connected；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, and the other end is rotated by the 4th
Secondary 20 are connected with second connecting rod 21；First locking device 5 and the second locking device 12 are separately mounted to the 11st rotation secondary 4 and the
In eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of transport operation mechanical arm structure；Servo drive includes the
One servomotor is connected to drive it to rotate with driving lever 16；First locking device 5 and the second locking device 12 use electromagnetism side
Formula is locked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611105622.6A CN106695876A (en) | 2016-12-05 | 2016-12-05 | Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611105622.6A CN106695876A (en) | 2016-12-05 | 2016-12-05 | Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695876A true CN106695876A (en) | 2017-05-24 |
Family
ID=58934735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611105622.6A Pending CN106695876A (en) | 2016-12-05 | 2016-12-05 | Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695876A (en) |
Citations (3)
| 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 |
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
| CN204823889U (en) * | 2015-06-14 | 2015-12-02 | 侯学志 | Has born of same parents of change function from adjustment mechanism formula hoist |
-
2016
- 2016-12-05 CN CN201611105622.6A patent/CN106695876A/en active Pending
Patent Citations (3)
| 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 |
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
| CN204823889U (en) * | 2015-06-14 | 2015-12-02 | 侯学志 | Has born of same parents of change function from adjustment mechanism formula hoist |
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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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |