Servo drive multi-rod type variable-freedom-degree mechanical arm for assembly work

Abstract

A servo drive multi-rod type variable-freedom-degree mechanical arm for assembly work is composed of a base 1, a driving rod 13, a first connecting rod 15, a first connecting part 5, a fourth connecting rod 4, a large arm 2, a wrist connecting rod 6, a second connecting rod 22, a third connecting rod 26, a wrist 27, an assembly clamping claw 28, a servo drive device, a first locking device 23 and a second locking device 24. The large arm 2 is connected to the base through a first rotary pair 10, the first locking device 23 and the second locking device 24 are mounted on a seventh rotary pair 16 and the eleventh rotary pair 19 respectively, the servo drive device comprises a first servo motor, and the first servo motor is connected with the driving rod 13 to drive the driving rod to rotate. The first locking device 23 and the second locking device 24 carry out locking in an electromagnetic mode. A connecting rod transmission mechanism is used for replacing a hydraulic mechanism, the defects that the hydraulic mechanism is prone to oil leakage, complex in mechanism and the like are overcome, the locking devices are adopted on the rotary pairs, therefore, the servo drive multi-rod type variable-freedom-degree mechanical arm can adapt to different working conditions, and the number of the adopted motor is smaller than the freedom degree of the mechanism.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven multi-rod variable-degree-of-freedom mechanical arm used 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 some...

AI Technical Summary

Problems solved by technology

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 there is noise and vibration

At present, there are very few variable-degree-of-freedom mechanisms that can be applied to practical applications, and no variable-degree-of-freedom mechanisms that have been applied to assembly operation robots have been seen.

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