CN106737715A - It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm - Google Patents
It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm Download PDFInfo
- Publication number
- CN106737715A CN106737715A CN201611062619.0A CN201611062619A CN106737715A CN 106737715 A CN106737715 A CN 106737715A CN 201611062619 A CN201611062619 A CN 201611062619A CN 106737715 A CN106737715 A CN 106737715A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- driving lever
- wrist
- 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.)
- 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
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm, it is characterised in that including：Base 19, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod 12, wrist 27, assembling retaining paw 28, servo drive and third connecting rod 10；Rotated second and first electromagnetic locking device 23 is installed on secondary 15；Rotated the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo drive includes the first servomotor, the second servomotor, is connected to drive it to rotate with the first driving lever 17, the second driving lever 21；First locking device 23 and the second locking device 24 are locked using electromagnetic mode, the motion such as common pitching for completing large arm lifting, wrist connecting rod and wrist, realize the assembling work of assembling retaining paw 28.The present invention substitutes conventional hydraulic transmission using variable freedom jointed gear unit, overcomes hydraulic pressure assembling work mechanical arm hydraulic system complexity, the shortcoming of easy oil leakage.
Description
Technical field
It is particularly a kind of for assembling work variable active containing locking device degree connecting rod machine the present invention relates to mechanical field
Structure mechanical 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 use of the arm in assembling work.Assembling work mechanical arm has mechanical and fluid pressure type two types, at present assembling
Most of Work machine arm is hydraulic-driven, due to hydraulic drive using hydraulic oil as transmission power medium, exist with
Lower problem：Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil of leakage can pollute ring
Border；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, powerless in work etc.
Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance requires technology in use
Higher, difficulty is larger.With the increase of assembling work mechanical arm function, its hydraulic system becomes increasingly complex, and breaks down more
With sudden, disguised.Mechanically-assembled Work machine arm is to realize that assembling is acted using mechanical transmissioning piece, with firm
Durable the advantages of, but the mechanically-assembled Work machine arm of traditional single-degree-of-freedom can not complete the action of complexity, using model
Enclose extremely limited, the mechanical electronic assembling work mechanical arm of controllable mechanism instead of hydraulic drive with linkage, when actively
When bar is driven by servomotor, automation, NC postprocessing control are easily realized, solve some shortcomings of hydraulic system presence, but
Mechanism's weight that complex structure is brought is controlled in the presence of needing to be equipped with the controlled motor with linkage free degree equivalent amount
Big and high cost the problem of amount, movement inertia.
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 for assembling work variable active containing locking device degree linkage machine
Tool arm, overcomes fluid pressure type assembling work mechanical arm hydraulic system element required precision high, complex structure, easy oil leakage etc. to lack
Point, overcomes the motor of open-chain structure to be required for being arranged on the shortcoming of joint position, and cause the quantity of controllable drive motor
Less than the free degree of assembling work robotic arm link mechanism, the electronic assembling work mechanical arm structure needs of existing machinery formula are overcome
The shortcoming for being equipped with the controlled motor with linkage free degree equivalent amount to be controlled, simplifies the complexity of structure, drop
The weight of low mechanism, movement inertia, volume and cost.To achieve the above object, the present invention provides a kind of for assembling work
The degree linkage mechanical arm of variable active containing locking device, including base 19, the second driving lever 21, second connecting rod 2, upper arm 4,
Wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod 12, wrist 27, assembling retaining paw 28, servo
Drive device and third connecting rod 10；The base 19 is arranged on removable revolving dial；Second driving lever 21 1
End is connected on base 19 by eighth-turn dynamic secondary 20, and the other end of the second driving lever 21 rotates secondary 1 with second connecting rod 2 by the 9th
One end connects, and the other end of second connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, and the other end of upper arm 4 passes through the 11st
Secondary 6 are rotated to be connected on wrist connecting rod 7；Described one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th,
The other end of first driving lever 17 rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, and the other end of large arm 9 rotates secondary 8 by the 5th
It is connected on wrist connecting rod 7；The one end of the fourth link 14 rotates pair 13 and is connected on base 19 by first, fourth link
14 other ends rotate secondary 15 and are connected with the one end of first connecting rod 12 by second, and the other end of first connecting rod 12 rotates secondary 11 by the 3rd
It is connected with third connecting rod 10, the other end of third connecting rod 10 rotates secondary 5 and is connected on upper arm 4 by the 4th；Rotate secondary second
First electromagnetic locking device 23 is installed on 15；Rotated the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo-drive
Device includes the first servomotor, the second servomotor, is connected to drive its turn with the first driving lever 17, the second driving lever 21
It is dynamic；First locking device 23 and the second locking device 24 are locked using electromagnetic mode, according to different working conditions, difference
The tight lock of selection is opened, the motion such as common pitching for completing large arm lifting, wrist connecting rod and wrist, realizes assembling retaining paw 28
Assembling work.
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 is less than assembling work robotic arm link mechanism
The free degree, is to be capable of achieving two degrees of freedom assembling work using a driving lever, overcomes existing assembling work 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 assembling work mechanical arm hydraulic system element required precision high, complex structure, easy oil leakage, poor reliability,
The low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is of the present invention a kind of for assembling work variable active containing locking device degree linkage mechanical arm
Schematic diagram.
Specific embodiment
It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm, including base 19,
Two driving levers 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod
12nd, wrist 27, assembling retaining paw 28, servo drive and third connecting rod 10；The base 19 is arranged on and may move back
Turn on platform；Described one end of second driving lever 21 is connected on base 19 by eighth-turn dynamic secondary 20, and the second driving lever 21 is another
End rotates secondary 1 and is connected with the one end of second connecting rod 2 by the 9th, and the other end of second connecting rod 2 rotates secondary 3 with upper arm 4 one by the tenth
End connection, the other end of upper arm 4 rotates secondary 6 and is connected on wrist connecting rod 7 by the 11st；Described one end of first driving lever 17 passes through
6th rotates secondary 16 is connected on base 19, and the other end of the first driving lever 17 rotates secondary 18 and is connected with the one end of large arm 9 by the 7th,
The other end of large arm 9 rotates secondary 8 and is connected on wrist connecting rod 7 by the 5th；The one end of the fourth link 14 rotates secondary by first
13 be connected on base 19, the other end of fourth link 14 rotates secondary 15 and is connected with the one end of first connecting rod 12 by second, first
The other end of connecting rod 12 rotates secondary 11 and is connected with third connecting rod 10 by the 3rd, and the other end of third connecting rod 10 rotates secondary by the 4th
5 are connected on upper arm 4；Rotated second and first electromagnetic locking device 23 is installed on secondary 15；Rotated the tenth and be provided with secondary 3
Second electromagnetic locking device 24；Servo drive include the first servomotor, the second servomotor, with the first driving lever 17,
Second driving lever 21 connects to drive it to rotate；First locking device 23 and the second locking device 24 are locked using electromagnetic mode
Tightly, according to different working conditions, tight lock is selected respectively or is opened, it is common to complete bowing for large arm lifting, wrist connecting rod and wrist
The motion such as face upward, realize the assembling work of assembling retaining paw 28.
Claims (1)
1. a kind of for assembling work variable active containing locking device degree linkage mechanical arm, it is characterised in that including：
Base 19, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14,
First connecting rod 12, wrist 27, assembling retaining paw 28, servo drive, third connecting rod 10, the first electromagnetic locking device 23 and
Second electromagnetic locking device 24；The base 19 is arranged on removable revolving dial；Described one end of second driving lever 21 leads to
Cross eighth-turn dynamic secondary 20 to be connected on base 19, the other end of the second driving lever 21 rotates secondary 1 with the one end of second connecting rod 2 by the 9th
Connection, the other end of second connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, and the other end of upper arm 4 is rotated by the 11st
Secondary 6 are connected on wrist connecting rod 7；Described one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th, and first
The other end of driving lever 17 rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, and the other end of large arm 9 rotates secondary 8 and connects by the 5th
On wrist connecting rod 7；The one end of the fourth link 14 rotates pair 13 and is connected on base 19 by first, and fourth link 14 is another
One end rotates secondary 15 and be connected with the one end of first connecting rod 12 by second, and the other end of first connecting rod 12 is by the 3rd rotation pair 11 and the
Three connecting rods 10 are connected, and the other end of third connecting rod 10 rotates secondary 5 and is connected on upper arm 4 by the 4th；Rotated on secondary 15 second
First electromagnetic locking device 23 is installed；Rotated the tenth and second electromagnetic locking device 24 is installed on secondary 3；Servo drive
Including the first servomotor, the second servomotor, it is connected to drive it to rotate with the first driving lever 17, the second driving lever 21；The
One locking device 23 and the second locking device 24 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062619.0A CN106737715A (en) | 2016-11-28 | 2016-11-28 | It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062619.0A CN106737715A (en) | 2016-11-28 | 2016-11-28 | It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737715A true CN106737715A (en) | 2017-05-31 |
Family
ID=58901806
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062619.0A Pending CN106737715A (en) | 2016-11-28 | 2016-11-28 | It is a kind of for assembling work variable active containing locking device degree linkage mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737715A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942148A (en) * | 2018-08-15 | 2018-12-07 | 山东省交通规划设计院 | A kind of automatic disassemblerassembler of tunnel illumination and method |
Citations (5)
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|---|---|---|---|---|
| US20050172750A1 (en) * | 2002-02-06 | 2005-08-11 | Abb Ab | Industrial robot |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104552246A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Movable mechanical arm with nine connection rods and five-freedom-degree controllable mechanism |
| CN104626108A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Advanced multi-degree of freedom controllable mechanical arm |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
-
2016
- 2016-11-28 CN CN201611062619.0A patent/CN106737715A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050172750A1 (en) * | 2002-02-06 | 2005-08-11 | Abb Ab | Industrial robot |
| CN104032779A (en) * | 2014-06-27 | 2014-09-10 | 广西大学 | Multi-connecting-rod controllable mining mechanism with variable cell function |
| CN104552246A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Movable mechanical arm with nine connection rods and five-freedom-degree controllable mechanism |
| CN104626093A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with six connecting rods |
| CN104626108A (en) * | 2014-12-25 | 2015-05-20 | 广西大学 | Advanced multi-degree of freedom controllable mechanical arm |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942148A (en) * | 2018-08-15 | 2018-12-07 | 山东省交通规划设计院 | A kind of automatic disassemblerassembler of tunnel illumination and method |
| CN108942148B (en) * | 2018-08-15 | 2024-01-26 | 山东省交通规划设计院集团有限公司 | Automatic disassembly and assembly equipment and method for tunnel illumination |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170531 |