Servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work

Abstract

The invention discloses a servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work. The mechanical arm comprises a base, a large arm ascending and descending mechanism, a wrist connecting rod pitching mechanism, a wrist, assembling clamping claws and a servo driving device. The large arm ascending and descending mechanism is composed of a second driving rod (19), a third connecting rod (3) and a large arm (5). One end of the second driving rod (19) is connected with the base (1) through a second rotating pair (17), and the other end of the second driving rod (19) is connected with the large arm (5) through a third rotating pair (18). One end of the third connecting rod (3) is connected with the base (1) through a tenth rotating pair (2), and the other end of the third connecting rod (3) is connected with the large arm (5) through a first rotating pair (4). The servo driving device comprises a first servo motor and a second servo motor. The first servo motor and the second servo motor are connected with a first driving rod (15) and a second driving rod (19) correspondingly so that the first driving rod (15) and the second driving rod (19) can be driven to rotate, motions such as ascending and descending of the large arm and pitching of a wrist connecting rod (7) and the wrist (27) are completed jointly, and assembling work of the assembling clamping claws (28) is achieved. By means of the servo-driven variable-motion-degree connecting rod mechanism mechanical arm, the defect that all servo motors of open-chain structures need to be mounted at the joint positions is overcome, and stability and reliability of operation of the arm are improved.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a servo-driven variable activity link mechanism mechanical arm for assembly 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 wide application of assembly operation robotic arms in assembly operations. There are two types of mechanical and hydraulic arms for assembly operations. At present, most of the robotic arms for assembly operations are driven by hydraulic pressure. 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 t...

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 assembly manipulator, complex structure, easy oil leakage, poor reliability, low transmission efficiency, etc. shortcoming

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