Two-degree-of-motion connection rod mechanism maniacal arm for carrying operation

Abstract

The invention discloses a two-degree-of-motion connection rod mechanism maniacal arm for carrying operation. The two-degree-of-motion connection rod mechanism maniacal arm comprises a pedestal 1, a first driving rod 3, a first connection piece 5, a first connection rod 19, a large arm 16, a second connection piece 7, a wrist connection rod 9, a vacuum suction disk 22, a wrist 21, a drive device, a second driving rod 13 and a second connection rod 11, wherein one end of the first driving rod 3 is connected with the pedestal 1 through a first rotating pair 2; one end of the second driving rod 13 is connected with the pedestal 1 through a ninth rotating pair 14, and the other end of the second driving rod 13 is connected with the second connection rod 11 through a tenth rotating pair 12; the second connection rod 11 is connected with the wrist connection rod 9 through an eleventh rotating pair 10; and the drive device consists of a first servo motor and a second servo motor which are respectively connected with the first driving rod 3 and the second driving rod 13 to drive the first driving rod 3 and the second driving rod 13. The two-degree-of-motion connection rod mechanism maniacal arm overcomes the shortcomings that a hydraulic system element of a hydraulic type carrying mechanical arm is high in requirement for precision, complicated in structure, prone to spill, low in reliability, low in transmission efficiency and the like.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a mechanical arm of a two-degree-of-movement link mechanism used for carrying operations. Background technique [0002] At present, most of the general-purpose handling manipulators in the manufacturing industry are joint-type motor-driven manipulators with a series structure in the form of an open chain. various actions. Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load on the drive motor, increase the moment of inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are installed at the joint position, result...

AI Technical Summary

Problems solved by technology

It overcomes the shortcomings of high precision requirements, complex structure, easy oil leakage, poor reliability, and low transmission efficiency of the hydraulic system components of the hydraulic handling manipulator.

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