Servo drive rod type variable freedom degree mechanical arm for assembling work

Abstract

A servo drive rod type variable freedom degree mechanical arm for assembling work is characterized by comprising a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, an assembling clamping claw 32, a servo drive device, a first locking device 9 and a second locking device 19; the big arm lifting mechanism is composed of a big arm 14 and a lifting mechanism; the big arm 14 is connected to the base 1 through a seventh rotation pair 13; the servo drive device comprises a first servo motor connected with a drive rod 3 so as to drive the drive rod 3 to rotate; and the first locking device 9 and the second locking device 19 conduct locking in an electromagnetic manner. According to the servo drive rod type variable freedom degree mechanical arm, a novel connecting rod transmission mechanism is adopted for replacing traditional hydraulic transmission, and the defects that a hydraulic assembling operation mechanical arm hydraulic system is complex, prone to oil leakage, high in requirement for machining precision and the like are overcome; and due to the fact that the locking devices are adopted in rotation pairs, two-freedom-degree assembling work can be achieved only by utilizing one drive rod, and the usage number of motors is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven rod-type 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 somet...

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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