Mechanical arm with locking-device-contained motion range changeable link mechanism and used for assembling work

Abstract

Disclosed is a mechanical arm with a locking-device-contained motion range changeable link mechanism and used for assembling work. The mechanical arm is characterized by comprising a base 19, a second driving rod 21, a second connecting rod 2, an upper arm 4, a wrist connecting rod 7, a first driving rod 17, a big arm 9, a fourth connecting rod 14, a first connecting rod 12, a wrist 27, an assembling clamping paw 28, a servo driving device and a third connecting rod 10; a first electromagnetic locking device 23 is installed on a second revolute pair 15; a second electromagnetic locking device 24 is installed on a tenth revolute pair 3; the servo driving device comprises a first servo motor and a second servo motor, and the first servo motor and the second servo motor are connected to the first driving rod 17 and the second driving rod 21 to drive the first driving rod 17 and the second driving rod 21 to rotate; the first electromagnetic locking device 23 and the second electromagnetic locking device 24 are locked through an electromagnetism method to jointly complete motion of rising and falling of the big arm and pitching of the wrist connecting rod and the wrist and the like, and to jointly achieve the assembling work of the assembling clamping paw 28. According to the mechanical arm with the locking-device-contained motion range changeable link mechanism and used for the assembling work, the motion range changeable link driving mechanism is utilized to replace a traditional hydraulic drive, and the shortcomings that a hydraulic pressure assembling work mechanical arm is complicated in hydraulic system and prone to oil leakage are overcome.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a mechanical arm with a locking device and a variable activity link 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 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 lo...

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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