CN106826910A - A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work - Google Patents
A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work Download PDFInfo
- Publication number
- CN106826910A CN106826910A CN201611062364.8A CN201611062364A CN106826910A CN 106826910 A CN106826910 A CN 106826910A CN 201611062364 A CN201611062364 A CN 201611062364A CN 106826910 A CN106826910 A CN 106826910A
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- CN
- China
- Prior art keywords
- driving lever
- connecting rod
- servo
- drive
- assembling
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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
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work,Including base 9,First driving lever 1,Second driving lever 2,3rd driving lever 3,Third connecting rod 4,Fourth link 7,First connecting rod 5,Large arm 6,Wrist 20,Assembling retaining paw 8 and servo drive,The one end of the large arm 6 rotates secondary 19 and is connected with fourth link 7 by the 9th,The other end is connected by wrist 20 with assembling retaining paw 8,Servo drive includes the first servomotor,Second servomotor,3rd servomotor,Respectively with the first driving lever 1,Second driving lever 2 and the 3rd driving lever 3 connect to drive it to rotate,First driving lever 1,Second driving lever 2 and common driving of the 3rd driving lever 3 complete the motions such as large arm lifting and the pitching of wrist 20,Realize the assembling work of assembling retaining paw 8.Motor is installed on base the present invention to solve open chain mechanism arm weight big, the problems such as bad dynamic performance.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servo-drive multi-activity degree linkage for assembling work is new
Type 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.
The content of the invention
It is an object of the invention to provide a kind of servo-drive multi-activity degree linkage Novel machine for assembling work
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, simplifies the complexity of structure, reduces machine
The weight of structure, movement inertia, volume and cost.To achieve the above object, the present invention provides a kind of servo for assembling work
Drive multi-activity degree linkage novel mechanical arm, including base 9, the first driving lever 1, the second driving lever 2, the 3rd driving lever
3rd, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, assembling retaining paw 8 and servo drive, institute
State the one end of the first driving lever 1 to be connected with base 9 by the first rotation secondary 11, the other end rotates secondary 14 and third connecting rod by the 4th
4 connections, the other end of third connecting rod 4 rotates secondary 15 and is connected with first connecting rod 5 by the 5th；Described one end of second driving lever 2 passes through
Second rotates secondary 12 is connected with base 9, and the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；3rd driving lever
3 one end rotate secondary 13 and are connected with base 9 by the 3rd, and the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；It is described big
The one end of arm 6 rotates secondary 19 and is connected with fourth link 7 by the 9th, and the other end is connected by wrist 20 with assembling retaining paw 8, is watched
Taking drive device includes the first servomotor, the second servomotor, the 3rd servomotor, is led with the first driving lever 1, second respectively
The driving lever 3 of lever 2 and the 3rd is connected to drive it to rotate, the first driving lever 1, the second driving lever 2 and the common drive of the 3rd driving lever 3
It is dynamic to complete the motions such as large arm lifting and the pitching of wrist 20, realize the assembling work of assembling retaining paw 8.
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, overcome fluid pressure type assembling work machinery
Arm hydraulic system element required precision is high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is a kind of servo-drive multi-activity degree linkage new mechanical arm for assembling work of the present invention
Arm mechanism schematic diagram.
Specific embodiment
A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work, including base 9, first
Driving lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, dress
With retaining paw 8 and servo drive；The base 9 is arranged on removable revolving dial；First driving lever 1
One end rotates secondary 11 and is connected with base 9 by first, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and the 3rd connects
The other end of bar 4 rotates secondary 15 and is connected with first connecting rod 5 by the 5th；Described one end of second driving lever 2 rotates secondary 12 by second
It is connected with base 9, the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 is by the
Three rotate secondary 13 is connected with base 9, and the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 passes through
9th rotates secondary 19 is connected with fourth link 7, and the other end is connected by wrist 20 with assembling retaining paw 8, servo drive
Including the first servomotor, the second servomotor, the 3rd servomotor, respectively with the first driving lever 1, the second driving lever 2 and
Three driving levers 3 are connected to drive it to rotate, and the first driving lever 1, the second driving lever 2 and common driving of the 3rd driving lever 3 complete big
Arm lifts the motion such as pitching with wrist 20, realizes the assembling work of assembling retaining paw 8.
Claims (1)
1. a kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work, including base 9, first is led
Lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, assembling
Retaining paw 8 and servo drive, the base 9 are arranged on removable revolving dial；First driving lever 1 one
End rotates secondary 11 and is connected with base 9 by first, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, third connecting rod 4
The other end rotates secondary 15 and is connected with first connecting rod 5 by the 5th；Described one end of second driving lever 2 by second rotate secondary 12 with
Base 9 is connected, and the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 passes through the 3rd
Rotate secondary 13 to be connected with base 9, the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 is by the
Nine rotate secondary 19 is connected with fourth link 7, and the other end is connected by wrist 20 with assembling retaining paw 8, servo drive bag
The first servomotor, the second servomotor, the 3rd servomotor are included, respectively with the first driving lever 1, the second driving lever 2 and the 3rd
Driving lever 3 connects to drive it to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062364.8A CN106826910A (en) | 2016-11-28 | 2016-11-28 | A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062364.8A CN106826910A (en) | 2016-11-28 | 2016-11-28 | A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826910A true CN106826910A (en) | 2017-06-13 |
Family
ID=59146048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062364.8A Pending CN106826910A (en) | 2016-11-28 | 2016-11-28 | A kind of servo-drive multi-activity degree linkage novel mechanical arm for assembling work |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826910A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609517A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009074704A1 (en) * | 2007-12-13 | 2009-06-18 | Universidad De Málaga | All-terrain robot system comprising a multiple-articulation manoeuvring arm, and control and sensor elements which are removable while remaining functional |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
-
2016
- 2016-11-28 CN CN201611062364.8A patent/CN106826910A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009074704A1 (en) * | 2007-12-13 | 2009-06-18 | Universidad De Málaga | All-terrain robot system comprising a multiple-articulation manoeuvring arm, and control and sensor elements which are removable while remaining functional |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106609517A (en) * | 2016-11-28 | 2017-05-03 | 广西大学 | Multi-freedom-degree connecting rod mechanism novel wood grabbing machine driven by servo motors |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170613 |
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| WD01 | Invention patent application deemed withdrawn after publication |