CN108147106A - A kind of servo-drive rod-type variable freedom mechanical arm for transport operation - Google Patents
A kind of servo-drive rod-type variable freedom mechanical arm for transport operation Download PDFInfo
- Publication number
- CN108147106A CN108147106A CN201611104811.1A CN201611104811A CN108147106A CN 108147106 A CN108147106 A CN 108147106A CN 201611104811 A CN201611104811 A CN 201611104811A CN 108147106 A CN108147106 A CN 108147106A
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- China
- Prior art keywords
- connecting rod
- revolute pair
- locking device
- large arm
- wrist
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Classifications
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- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of servo-drive rod-type variable freedom mechanical arm for transport operation, it is characterised in that including：Pedestal 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, vacuum cup 32, servo drive and the first locking device 9 and the second locking device 19：The large arm elevating mechanism is made of large arm 14 and elevating mechanism, and the large arm 14 is connected to servo drive on pedestal 1 by the 7th revolute pair 13 and includes the first servo motor, connect to drive its rotation with driving lever 3；First locking device 9 and the second locking device 19 are locked using electromagnetic mode.Present invention employs novel link transmission mechanisms to substitute conventional hydraulic transmission, solves the shortcomings of hydraulic pressure transport operation mechanical arm hydraulic system complexity, easy oil leakage, high requirement on machining accuracy, due to using locking device in revolute pair, two degree of freedom transport operations can be realized using a driving lever, reduce motor usage quantity.
Description
Technical field
The present invention relates to machinery field, particularly a kind of servo-drive rod-type variable freedom machinery for transport operation
Arm.
Background technology
Over the years, since 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, at present transport operation
Most of mechanical arm is hydraulic-driven, since hydraulic drive is using medium of the hydraulic oil as passing power, is had the following problems：
Its startability is poor, easily because generating leakage after internal element abrasion, and the hydraulic oil leaked pollutes the environment；Hydraulic oil
It is affected by temperature larger, gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, phenomena such as powerless in work；Hydraulic pressure
Element requirement on machining accuracy is high, and matching requirements are stringent, and manufacture is more difficult, is maintained in use and requires technology higher, difficulty
It is larger.With the increase of transport operation mechanical arm function, hydraulic system becomes increasingly complex, break down with more it is sudden,
Concealment.Mechanical transport operation mechanical arm is to realize that carrying acts using mechanical transmissioning piece, have many advantages, such as it is sturdy and durable, but
It is that the mechanical transport operation mechanical arm of traditional single-degree-of-freedom cannot complete complicated action, application range is extremely limited, machinery
The electronic transport operation mechanical arm of formula controllable mechanism, with link mechanism instead of hydraulic drive, when driving lever is driven by servo motor
When, automation easy to implement, NC postprocessing control solve some shortcomings existing for hydraulic system, but exist and need to be equipped with and even
The control motor of linkage degree of freedom equivalent amount come carry out mechanism weight, movement inertia that control structure complicated band is come it is big and into
The problem of this is high.
Variable Freedom Mechanism adapts to the functional requirement of different phase by being combined into new topological structure.It can apply at present
It is also seldom in practical Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism applied to transport operation mechanical arm.
Invention content
The purpose of the present invention is to provide a kind of servo-drive rod-type variable freedom mechanical arms for transport operation, overcome
The shortcomings of fluid pressure type transport operation mechanical arm hydraulic system element required precision is high, complicated, easy oil leakage, overcomes open-chain structure
Driving motor be required for be mounted on joint position the shortcomings that, and cause controllable drive motor quantity be less than transport operation machinery
The degree of freedom of arm link mechanism overcomes the electronic transport operation mechanical arm structure of existing machinery formula to need to be equipped with and link mechanism degree of freedom
The control motor of equivalent amount is come the shortcomings that control, the complexity of simplified structure, the weight of reducing mechanism, movement are used
Amount, volume and cost.To achieve the above object, the present invention provides a kind of servo-drive rod-types for transport operation to become freely
Mechanical arm is spent, including pedestal 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, vacuum cup 32, servo-drive dress
It puts and the first locking device 9 and the second locking device 19：The large arm elevating mechanism is made of large arm 14 and elevating mechanism, institute
It states large arm 14 to be connected on pedestal 1 by the 7th revolute pair 13, the fourth link 16 of the elevating mechanism passes through the 8th revolute pair
15 are connected on pedestal 1, and the other end is connect by the 9th revolute pair 18 with the 5th connecting rod 20, and 20 other end of the 5th connecting rod passes through
Ten revolute pairs 21 are connect with large arm 14；The wrist connecting rod luffing mechanism is made of wrist connecting rod 12 and luffing mechanism, the hand
Wrist connecting rod 12 is connected to by the 11st revolute pair 22 in large arm 14, and the luffing mechanism is by driving lever 3, first connecting rod 5, second
Connecting rod 7, third connecting rod 8 form, and 3 one end of driving lever is connected to by the first revolute pair 2 on pedestal 1, and the other end passes through second turn
Dynamic pair 4 is connect with first connecting rod 5, and 5 another both ends of first connecting rod are connected to the second company by 6 and the 4th revolute pair 17 of third revolute pair
On bar 7 and third connecting rod 8, second connecting rod 7 is connected to by the 5th revolute pair 11 on wrist connecting rod 12,8 other end of third connecting rod
It is connect by the 6th revolute pair 10 with wrist connecting rod 12, another connecting pin of wrist connecting rod passes through the 11st revolute pair 22 and large arm
14 connections；First locking device, 9 and second locking device 19 is separately mounted to the 6th revolute pair 10 and the 9th revolute pair 18
On, it is locked in due course according to the different operating mode of transport operation mechanical arm structure；Servo drive includes the first servo motor, with
Driving lever 3 connects to drive its rotation；First locking device 9 and the second locking device 19 are locked using electromagnetic mode.
Using controllable more bar closed chain mechanisms, the driving motor for overcoming open-chain structure is required for being mounted on joint position the present invention
The shortcomings that putting, improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher；Compact-sized, rigidity is high,
Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on link mechanism,
And its different operating mode according to mechanism is allowed to lock and loosen specific revolute pair, the degree of freedom of mechanism is reduced in due course, is realized
In the case where completing expected requirement, the quantity of the controllable drive motor used be less than transport operation robot linkage mechanism from
By spending, two degrees of freedom transport operation can be realized using a driving lever, overcome existing transport operation mechanical arm need to be equipped with
The control motor of link mechanism degree of freedom equivalent amount simplifies the complexity of structure, reducing mechanism come the shortcomings that control
Weight, movement inertia, volume and cost, increase the controllability and stability of mechanism, improve work efficiency.Simultaneously also gram
High fluid pressure type transport operation mechanical arm hydraulic system element required precision, complicated, easy oil leakage, poor reliability, transmission are taken
The shortcomings such as efficiency is low.
Description of the drawings
Fig. 1 is that a kind of structure of servo-drive rod-type variable freedom mechanical arm for transport operation of the present invention is shown
It is intended to.
Specific embodiment
A kind of servo-drive rod-type variable freedom mechanical arm for transport operation, including pedestal 1, large arm elevating mechanism,
Wrist connecting rod luffing mechanism, wrist 31, vacuum cup 32, servo drive and the first locking device 9 and the second locking dress
Put 19；The pedestal 1 is mounted on removable revolving platform；The large arm elevating mechanism is made of large arm 14 and elevating mechanism,
The large arm 14 is connected to by the 7th revolute pair 13 on pedestal 1, and the fourth link 16 of the elevating mechanism is moved by eighth-turn
Pair 15 is connected on pedestal 1, and the other end is connect by the 9th revolute pair 18 with the 5th connecting rod 20, and 20 other end of the 5th connecting rod passes through
Tenth revolute pair 21 is connect with large arm 14；The wrist connecting rod luffing mechanism is made of wrist connecting rod 12 and luffing mechanism, described
Wrist connecting rod 12 is connected to by the 11st revolute pair 22 in large arm 14, and the luffing mechanism is by driving lever 3, first connecting rod 5,
Two connecting rods 7, third connecting rod 8 form, and 3 one end of driving lever is connected to by the first revolute pair 2 on pedestal 1, and the other end passes through second
Revolute pair 4 is connect with first connecting rod 5, and 5 another both ends of first connecting rod are connected to second by 6 and the 4th revolute pair 17 of third revolute pair
On connecting rod 7 and third connecting rod 8, second connecting rod 7 is connected to by the 5th revolute pair 11 on wrist connecting rod 12, and third connecting rod 8 is another
End is connect by the 6th revolute pair 10 with wrist connecting rod 12, and another connecting pin of wrist connecting rod is by the 11st revolute pair 22 and greatly
Arm 14 connects；First locking device, 9 and second locking device 19 is separately mounted to the 6th revolute pair 10 and the 9th revolute pair
On 18, locked in due course according to the different operating mode of transport operation mechanical arm structure；Servo drive includes the first servo motor,
It connect to drive its rotation with driving lever 3；First locking device 9 and the second locking device 19 are locked using electromagnetic mode.
In operating mode operation, when large arm 14 lifts, the second locking device 19 is opened, 18 degree of affranchising of the 9th revolute pair,
Locking device 9 is locked, i.e., the 6th kinematic pair 10 is locked, and loses degree of freedom.At this point, large arm rotates under driving link effect around the 7th
13 rotation lifting of pair.During wrist connecting rod pitching, locking device 9 is opened, and 10 degree of affranchising of the 6th kinematic pair, locking device 19 is locked
Tightly, the locking of the 9th kinematic pair 18 loses degree of freedom, and large arm 14 loses degree of freedom with respect to pedestal 1, is moved under the driving of driving link 3 at this time
Power passes to the realization wrist connecting rod pitching of wrist connecting rod 12 with moving across first connecting rod 5, second connecting rod 7 and third connecting rod 8.Whole
During a transport operation, the first locking device 9 and the second locking device 19 according to different working conditions, in due course locking,
It opens, completes transport operation.
Claims (1)
1. a kind of servo-drive rod-type variable freedom mechanical arm for transport operation, it is characterised in that including：Pedestal 1, large arm
Elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, vacuum cup 32, servo drive and the first locking device 9 and
Two locking devices 19；The pedestal 1 is mounted on removable revolving platform；The large arm elevating mechanism is by large arm 14 and lifting
Mechanism forms, and the large arm 14 is connected to by the 7th revolute pair 13 on pedestal 1, and the fourth link 16 of the elevating mechanism passes through
8th revolute pair 15 is connected on pedestal 1, and the other end is connect by the 9th revolute pair 18 with the 5th connecting rod 20, and the 5th connecting rod 20 is another
One end is connect by the tenth revolute pair 21 with large arm 14；The wrist connecting rod luffing mechanism is by wrist connecting rod 12 and luffing mechanism group
Into the wrist connecting rod 12 is connected to by the 11st revolute pair 22 in large arm 14, and the luffing mechanism is by driving lever 3, first
Connecting rod 5, second connecting rod 7, third connecting rod 8 form, and 3 one end of driving lever is connected to by the first revolute pair 2 on pedestal 1, the other end
It is connect by the second revolute pair 4 with first connecting rod 5,5 another both ends of first connecting rod are connected by 6 and the 4th revolute pair 17 of third revolute pair
It is connected on second connecting rod 7 and third connecting rod 8, second connecting rod 7 is connected to by the 5th revolute pair 11 on wrist connecting rod 12, and third connects
8 other end of bar is connect by the 6th revolute pair 10 with wrist connecting rod 12, and another connecting pin of wrist connecting rod passes through the 11st rotation
Pair 22 is connect with large arm 14；First locking device, 9 and second locking device 19 is separately mounted to the 6th revolute pair 10 and
In nine revolute pairs 18, locked in due course according to the different operating mode of transport operation mechanical arm structure；Servo drive includes first
Servo motor connect to drive its rotation with driving lever 3；First locking device 9 and the second locking device 19 use electromagnetic mode
It is locked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104811.1A CN108147106A (en) | 2016-12-05 | 2016-12-05 | A kind of servo-drive rod-type variable freedom mechanical arm for transport operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104811.1A CN108147106A (en) | 2016-12-05 | 2016-12-05 | A kind of servo-drive rod-type variable freedom mechanical arm for transport operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108147106A true CN108147106A (en) | 2018-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611104811.1A Pending CN108147106A (en) | 2016-12-05 | 2016-12-05 | A kind of servo-drive rod-type variable freedom mechanical arm for transport operation |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004322309A (en) * | 2003-04-28 | 2004-11-18 | Mars Inc | Device and method for engaging to impaleable food |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104594413A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic 4R-5R-5R multi-closed-chain connecting rod controllable excavation mechanism |
| CN105108732A (en) * | 2015-08-24 | 2015-12-02 | 广西大学 | Picking mechanism with metamorphic function |
| CN105252561A (en) * | 2015-10-26 | 2016-01-20 | 广西大学 | Automatic conveying and cut-off device for sugarcane |
-
2016
- 2016-12-05 CN CN201611104811.1A patent/CN108147106A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004322309A (en) * | 2003-04-28 | 2004-11-18 | Mars Inc | Device and method for engaging to impaleable food |
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
| CN104594413A (en) * | 2014-12-25 | 2015-05-06 | 广西大学 | Electromagnetic type active metamorphic 4R-5R-5R multi-closed-chain connecting rod controllable excavation mechanism |
| CN105108732A (en) * | 2015-08-24 | 2015-12-02 | 广西大学 | Picking mechanism with metamorphic function |
| CN105252561A (en) * | 2015-10-26 | 2016-01-20 | 广西大学 | Automatic conveying and cut-off device for sugarcane |
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Application publication date: 20180612 |
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