Two-motion-range closed-chain connecting rod mechanism mechanical arm for assembling work

Abstract

The invention discloses a two-motion-range closed-chain connecting rod mechanism mechanical arm for assembling work. The mechanical arm is characterized in that the mechanical arm comprises a base, a rotating platform, an extending-and-contracting mechanism, a lifting mechanism and a driving device; the extending-and-contracting mechanism comprises a first driving rod, a fourth connecting rod, a fifth connecting rod, a first connecting rod and a pitching rod; one end of a second connecting rod is hinged to the other end of a second driving rod; one end of a third connecting rod is hinged to the other end of the second connecting rod; the upper portion of a wrist connecting rod is hinged to the other end of the pitching rod, and the lower portion of the wrist connecting rod is hinged to the other end of the third connecting rod; the third connecting rod is hinged to the middle of the fourth connecting rod; and the driving device comprises two servo motors, and the two servo motors are connected with and drive the first driving rod and a second driving rod correspondingly. By means of the two-motion-range closed-chain connecting rod mechanism mechanical arm, stability and reliability of mechanism operation are improved; no accumulative error is generated; and the mechanical arm is high in precision, compact in structure, high in rigidity and high in bearing capacity.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a mechanical arm of a two-degree-of-motion closed-chain linkage mechanism 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 widespread application of assembly robotic arms in assembly operations. There are two types of assembly manipulators: mechanical and hydraulic. At present, most of the manipulators for assembling manipulators 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 Leakage occurs after internal components are worn, and the leaked hydraulic oil will pollute the environment; hydraulic oil is greatly affected by temperature, the overall efficiency is low, ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a two-degree-of-movement closed-chain link mechanism mechanical arm for assembly operations, which overcomes the shortcomings of the hydraulic system components of the hydraulic assembly mechanical arm, such as high precision requirements, complex structure, and easy oil leakage, and solves the open-chain structure at the same time. The drive motors are all installed at the joints, resulting in a large moment of inertia of the arm, a decrease in dynamic performance, large cumulative errors, small bearing capacity, and complex structures.

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