Simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation

Abstract

The invention discloses a simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation. The mechanical arm comprises a base 1, a big arm 17, a wrist connecting rod pitching mechanism, a wrist 21, a vacuum sucker 22, a servo drive device, a first locking device 8 and a second locking device 16; the wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism; the wrist connecting rod is connected to the big arm 17 through a ninth rotating pair 19 and a tenth rotating pair 20 which are coaxial; the pitching mechanism is composed of a driving part 3, a first connecting rod 5, a second connecting rod 10 and a third connecting rod 9; the first locking device 8 and the second locking device 16 are arranged on a fourth rotating pair 7 and a seventh rotating pair 15 respectively and carry out timely locking according to different working conditions of a mechanism; and the first locking device 8 and the second locking device 16 carry out locking in an electromagnetic mode. According to the simple servo drive rod type mechanical arm with variable freedom degree for the carrying operation, the defect that driving motors of an open chain structure all need to be arranged at joint positions is overcome, and the number of adopted controllable driving motors is smaller than the number of the freedom degrees of a connecting rod mechanism of the mechanical arm for the carrying operation.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven rod-type variable-degree-of-freedom simple mechanical arm used for carrying 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 robotic arms in handling operations. There are two types of mechanical and hydraulic arms for handling operations. At present, most of the robotic arms for handling operations 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, It is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and vibra...

AI Technical Summary

Problems solved by technology

There are two types of mechanical and hydraulic arms for handling operations. At present, most of the robotic arms for handling operations 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, It is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and vibration

At present, there are 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 handling robotic arms have been seen.

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