Dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation

Abstract

A dual servo drive variable-freedom-degree multi-rod type mechanical arm for handling operation comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a vacuum suction cup 28, a servo drive device, a first locking device 5 and a second drive device 12. The large arm lifting mechanism comprises a large arm 8, a fourth connecting rod 3 and a fifth connecting rod 6. The wrist connecting rod pitching mechanism comprises an active rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11. The first locking device 5 and the second locking device 12 are mounted on an eleventh rotary pair 4 and an eighth rotary pair 7 correspondingly, and locking can be carried out in good time according to different work conditions of a mechanical arm structure for handling operation. The servo drive device comprises a first servo motor, and the first servo motor is connected with the active rod 16 so as to drive the active rod 16 to rotate. The first locking device 5 and the second locking device 12 achieve locking in an electromagnetic manner. According to the dual servo drive variable-freedom-degree multi-rod type mechanical arm, handling operation of two freedom degrees can be achieved through the only one active rod, the number of adopted motors is reduced, and the manufacturing cost of the mechanical arm structure for handling operation is reduced.

Description

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

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