Servo drive rod type variable-degree-of-freedom mechanical arm for transport operation

Abstract

The invention discloses a servo drive rod type variable-degree-of-freedom mechanical arm for transport operation. The servo drive rod type variable-degree-of-freedom mechanical arm for transport operation comprises a base, a big arm telescopic mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a vacuum suction cup, a servo drive device and two locking devices. The big arm telescopic mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein one end of the first connecting rod is connected with the base through a first rotating pair, the other end of the first connecting rod is connected with one end of the third connecting rod through a third rotating pair, the other end of the third connecting rod is connected with the second connecting rod through a fourth rotating pair, one end of the second connecting rod is connected with the base through a second rotating pair, and the other end of the second connecting rod is connected with a big arm through a fifth rotating pair. The locking devices are installed on the corresponding rotating pairs. A connecting rod transmission mechanism is adopted to replace a traditional hydraulic transmission mode, the defects that a hydraulic system of a hydraulic transport operation mechanical arm is complex, prone to oil leakage and the like can be overcome, and as the locking devices are installed on the corresponding rotating pairs, transport operation of three degrees of freedom can be achieved through two driving rods.

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 handling 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 manipulators in handling operations. There are two types of handling manipulators: mechanical and hydraulic. At present, most of the handling manipulators 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, 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...

AI Technical Summary

Problems solved by technology

There are two types of handling manipulators: mechanical and hydraulic. At present, most of the handling manipulators 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, 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 handling manipulators have been seen.

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