Servo drive type variable-motion-degree-linkage-mechanism mechanical arm for carrying operation

Abstract

A servo drive type variable-motion-degree-linkage-mechanism mechanical arm for carrying operation comprises a base 1, a big arm ascending and descending mechanism, a wrist connection rod pitching mechanism, a wrist, a vacuum suction cup and a servo drive device. The big arm ascending and descending mechanism is composed of a second driving rod 19, a third connection rod 3 and a big arm body 5. One end of the second driving rod 19 is connected with the base 1 through a second rotation pair 17. The other end of the second driving rod 19 is connected with the big arm 5 through the third rotation pair 18. One end of the third connection rod 3 is connected with the base 1 through the tenth rotation pair 2. The other end of the third connection rod 3 is connected with the big arm 5 through the first rotation pair 4. The servo drive device comprises a first servo motor and a second servo motor, wherein the first servo motor is connected with the first driving rod 15 so as to drive the first driving rod 15 to rotate, the second servo motor is connected with the second driving rod 19 so as to drive the second driving rod 19 to rotate, the first servo motor and the second servo motor jointly complete motions such as ascending and descending of the big arm and pitching of the wrist connection rod 7 and the wrist 27, and then the carrying operation is achieved by the vacuum suction cup 28. The servo drive type variable-motion-degree-linkage-mechanism mechanical arm for the carrying operation overcomes defect that drive motors of an open-chain structure all need to be installed at joint positions, and the stability and reliability of the operation of the mechanical arm are improved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven variable activity link mechanism mechanical arm used for handling operations. Background technique [0002] In the past few years, due to the shortage of personnel in the labor market, labor costs have increased year by year, which has promoted the widespread application of handling manipulators in handling operations. There are two types of handling manipulators: mechanical and hydraulic. At present, most of the handling manipulators are hydraulically driven. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, and it is easy to cause internal Leakage occurs after the components are worn, and the leaked hydraulic oil will pollute the environment; the hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and vibration. ...

AI Technical Summary

Problems solved by technology

[0004] The invention adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the driving motors of the open-chain structure need to be installed at joint positions, improves the stability and reliability of the arm operation, has no cumulative error, and has high precision; the structure is compact, High rigidity, large load-carrying capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory, overcome the high precision requirements of the hydraulic system components of the hydraulic handling manipulator, complex structure, easy oil leakage, poor reliability, low transmission efficiency, etc. shortcoming

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