CN106737717A - A kind of servo-drive variable freedom multi link mechanical arm for assembling work - Google Patents
A kind of servo-drive variable freedom multi link mechanical arm for assembling work Download PDFInfo
- Publication number
- CN106737717A CN106737717A CN201611062634.5A CN201611062634A CN106737717A CN 106737717 A CN106737717 A CN 106737717A CN 201611062634 A CN201611062634 A CN 201611062634A CN 106737717 A CN106737717 A CN 106737717A
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- CN
- China
- Prior art keywords
- connecting rod
- locking device
- large arm
- wrist
- servo
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- 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
- B25J11/00—Manipulators not otherwise provided for
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- 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
- 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 kind of servo-drive variable freedom multi link mechanical arm for assembling work, including：Base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, servo drive and the first locking device 5 and the second locking device 18；The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, the wrist connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, the locking device 18 of first locking device 5 and second is separately mounted to the 3rd rotation secondary 6 and the 7th and rotates on secondary 17, is locked in good time according to different operating modes；Servo drive includes the first servomotor, is connected to drive it to rotate with the first driving lever 14；The locking device 18 of first locking device 5 and second is locked using electromagnetic mode.Instant invention overcomes hydraulic system of hydraulic machine it is complicated, requirement on machining accuracy is high, easy oil leakage shortcoming, two free degree operations, the free degree of the quantity less than assembling work robotic arm link mechanism of the servo drive motor for using are realized using locking device on pair is rotated.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servo-drive variable freedom multi link machinery for assembling work
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 servo-drive variable freedom multi link mechanical arm for assembling work,
Overcome the shortcomings of fluid pressure type assembling work mechanical arm hydraulic system element required precision high, complex structure, easy oil leakage, overcome out
The motor of chain structure is required for being arranged on the shortcoming of joint position, and causes that the quantity of controllable drive motor is made less than assembling
The free degree of industry robotic arm link mechanism, overcomes the electronic assembling work 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.To achieve the above object, the invention provides a kind of servo-drive for assembling work
Variable freedom multi link mechanical arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, mounting clip
Hold paw 28, servo drive and the first locking device 5 and the second locking device 18；The large arm elevating mechanism is by large arm
9 and elevating mechanism composition, the large arm 9 rotates secondary 4 and is connected in frame 1 by the tenth, the fourth link 3 of the elevating mechanism
One end rotates secondary 2 and is connected on base 1 by second, and the other end rotates secondary 6 and is connected with the 5th connecting rod 7 by the 3rd, and the 5th connects
The other end of bar 7 rotates secondary 8 and is connected with large arm 9 by the 4th；The wrist connecting rod luffing mechanism is by wrist connecting rod 22 and pitching machine
Structure is constituted, and the wrist connecting rod 22 rotates secondary 12 and is connected in large arm 9 by the 12nd, the luffing mechanism by driving lever 14,
First connecting rod 16, third connecting rod 10 and second connecting rod 20 are constituted, and the one end of driving lever 14 rotates secondary 13 and is connected to base 1 by first
On, the other end rotates secondary 15 and is connected with first connecting rod 16 by the 5th；The one end of first connecting rod 16 rotates secondary 17 and connects by the 7th
Onto third connecting rod 10, the other end of first connecting rod 16 rotates secondary 19 and is connected on second connecting rod 20 by the 6th；Third connecting rod 10
The other end is connected in large arm 9 by eighth-turn dynamic secondary 11, and the other end of second connecting rod 20 rotates secondary 21 and connects with wrist by the 9th
Bar 22 is connected；The locking device 18 of first locking device 5 and second is separately mounted to the 3rd rotation secondary 6 and the 7th and rotates secondary 17
On, locked in good time according to different operating modes；Servo drive includes the first servomotor, is connected with the first driving lever 14
To drive it to rotate；The locking device 18 of first locking device 5 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 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 match somebody with somebody
The standby shortcoming being controlled with the controlled motor of linkage free degree equivalent amount, simplifies the complexity of structure, reduces
The weight of mechanism, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Simultaneously
Also overcome fluid pressure type assembling work mechanical arm hydraulic system element required precision high, complex structure, easy oil leakage, reliability
Difference, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is of the present invention with a kind of servo-drive variable freedom multi link mechanical arm for assembling work
Structural representation.
Specific embodiment
It is of the present invention with a kind of servo-drive variable freedom multi link mechanical arm for assembling work, including
Base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, servo drive and the
One locking device 5 and the second locking device 18；The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 is led to
Cross the tenth rotation secondary 4 to be connected in frame 1, one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected to bottom by second
On seat 1, the other end rotates secondary 6 and is connected with the 5th connecting rod 7 by the 3rd, the other end of the 5th connecting rod 7 by the 4th rotate pair 8 with it is big
Arm 9 is connected；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, and the wrist connecting rod 22 passes through the tenth
Two rotate secondary 12 is connected in large arm 9, and the luffing mechanism is connected by driving lever 14, first connecting rod 16, third connecting rod 10 and second
Bar 20 is constituted, and the one end of driving lever 14 rotates secondary 13 and is connected on base 1 by first, and the other end rotates secondary 15 and the by the 5th
One connecting rod 16 is connected；The one end of first connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and first connecting rod 16 is another
End rotates secondary 19 and is connected on second connecting rod 20 by the 6th；The other end of third connecting rod 10 is connected to big by eighth-turn dynamic secondary 11
On arm 9, the other end of second connecting rod 20 rotates secondary 21 and is connected with wrist connecting rod 22 by the 9th；First locking device 5 and
Two locking devices 18 are separately mounted to the 3rd rotation secondary 6 and the 7th and rotate on secondary 17, are locked in good time according to different operating modes；
Servo drive includes the first servomotor, is connected to drive it to rotate with the first driving lever 14；First locking device
5 and second locking device 18 locked using electromagnetic mode.
Operation principle and process：In operation, when large arm 9 is lifted, the first locking device 5 is opened, and the 3rd rotates secondary 6 recovers
The free degree, the second locking device 18 is locked, and the 7th rotates secondary 17 loses the free degree, now large arm 9 under the effect of driving lever 14 around
Tenth rotates secondary 4 rotates lifting.During wrist connecting rod pitching, the second locking device 18 is opened, the degree of affranchising of the 7th kinematic pair 17,
First locking device 5 is locked, and the locking of the 3rd kinematic pair 6 loses the free degree, and the respect thereto 1 of large arm 9 loses the free degree, now in master
Under lever 14 drives, move across first connecting rod 16, third connecting rod 10 and second connecting rod 20 and pass to wrist connecting rod 22 and realize wrist
Connecting rod pitching.In whole operation process, the first locking device 5 and the second locking device 18 divide according to different working conditions
Xuan Ze not tightly lock or open, the motion such as the lifting of common completion large arm and the pitching of flexible, wrist connecting rod 22 and wrist 27, realization dress
Assembling work with retaining paw 28.First locking device 5 and the second locking device 18 can be locked using electromagnetic mode, control
System is easily realized.
The invention enables the free degree of the quantity less than assembling work robotic arm link mechanism of controllable drive motor, overcome
What existing assembling work mechanical arm needed to be equipped with the controlled motor with linkage free degree equivalent amount to be controlled lacks
Point, simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost, assembling work machinery of the invention
Each connecting rod rod member is made lighter bar by arm, so that whole mechanism kinematic inertia is small, dynamic performance is good, it is easy to control, and leads to
Setting revolving dial is crossed, makes the revolution working space that assembling work mechanical arm possesses 360 degree, Work Space Range is big.
Claims (1)
1. a kind of servo-drive variable freedom multi link mechanical arm for assembling work, it is characterised in that including：Base 1,
Large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, assembling retaining paw 28, servo drive and the first locking
The locking device 18 of device 5 and second；The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 passes through the tenth
Rotate secondary 4 to be connected in frame 1, one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected on base 1 by second,
The other end rotates secondary 6 and is connected with the 5th connecting rod 7 by the 3rd, and the other end of the 5th connecting rod 7 rotates secondary 8 and connects with large arm 9 by the 4th
Connect；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, and the wrist connecting rod 22 passes through the 12nd turn
Dynamic secondary 12 are connected in large arm 9, and the luffing mechanism is by driving lever 14, first connecting rod 16, third connecting rod 10 and second connecting rod 20
Composition, one end of driving lever 14 rotates secondary 13 and is connected on base 1 by first, and the other end rotates secondary 15 and first and connects by the 5th
Bar 16 is connected；The one end of first connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and the other end of first connecting rod 16 leads to
The 6th rotation secondary 19 is crossed to be connected on second connecting rod 20；The other end of third connecting rod 10 is connected to large arm 9 by eighth-turn dynamic secondary 11
On, the other end of second connecting rod 20 rotates secondary 21 and is connected with wrist connecting rod 22 by the 9th；First locking device 5 and second is locked
Tight device 18 is separately mounted to the 3rd rotation secondary 6 and the 7th and rotates on secondary 17, is locked in good time according to different operating modes；Servo
Drive device includes the first servomotor, is connected to drive it to rotate with the first driving lever 14；The He of first locking device 5
Second locking device 18 is locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062634.5A CN106737717A (en) | 2016-11-28 | 2016-11-28 | A kind of servo-drive variable freedom multi link mechanical arm for assembling work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062634.5A CN106737717A (en) | 2016-11-28 | 2016-11-28 | A kind of servo-drive variable freedom multi link mechanical arm for assembling work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737717A true CN106737717A (en) | 2017-05-31 |
Family
ID=58901707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062634.5A Pending CN106737717A (en) | 2016-11-28 | 2016-11-28 | A kind of servo-drive variable freedom multi link mechanical arm for assembling work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737717A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826913A (en) * | 2016-11-30 | 2017-06-13 | 广西大学 | One kind drives variable active degree multi-connecting-rod mechanism using servomotor |
Citations (8)
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|---|---|---|---|---|
| US4756662A (en) * | 1986-03-31 | 1988-07-12 | Agency Of Industrial Science & Technology | Varible compliance manipulator |
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine 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 |
| CN104674873A (en) * | 2015-03-18 | 2015-06-03 | 广西大学 | Metamorphic mechanism type dumping excavator |
| CN204658449U (en) * | 2015-06-08 | 2015-09-23 | 广西大学 | A kind of allosteric state large space robot palletizer mechanism |
| CN104929167A (en) * | 2015-06-04 | 2015-09-23 | 广西大学 | Active metamorphic mechanism type controllable excavating mechanism |
| CN105887950A (en) * | 2016-06-01 | 2016-08-24 | 广西大学 | Initiative metamorphic multi-link controllable mechanism type backhoe excavator |
-
2016
- 2016-11-28 CN CN201611062634.5A patent/CN106737717A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4756662A (en) * | 1986-03-31 | 1988-07-12 | Agency Of Industrial Science & Technology | Varible compliance manipulator |
| JP2001254798A (en) * | 2000-03-08 | 2001-09-21 | Natl Inst Of Advanced Industrial Science & Technology Meti | Multi-degree-of-freedom driving mechanism by parallel mechanism |
| CN104047309A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable multi-connecting-rod loading machine 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 |
| CN104674873A (en) * | 2015-03-18 | 2015-06-03 | 广西大学 | Metamorphic mechanism type dumping excavator |
| CN104929167A (en) * | 2015-06-04 | 2015-09-23 | 广西大学 | Active metamorphic mechanism type controllable excavating mechanism |
| CN204658449U (en) * | 2015-06-08 | 2015-09-23 | 广西大学 | A kind of allosteric state large space robot palletizer mechanism |
| CN105887950A (en) * | 2016-06-01 | 2016-08-24 | 广西大学 | Initiative metamorphic multi-link controllable mechanism type backhoe excavator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106826913A (en) * | 2016-11-30 | 2017-06-13 | 广西大学 | One kind drives variable active degree multi-connecting-rod mechanism using servomotor |
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Application publication date: 20170531 |
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