Servo drive dual activity degree link mechanism simple mechanical arm used for assembling work

Abstract

Disclosed is a servo drive dual activity degree link mechanism simple mechanical arm used for assembling work. The servo drive dual activity degree link mechanism simple mechanical arm comprises a second driving rod 2, a base 14, a big arm 4, a small arm 7, a wrist connecting rod 9, a first driving rod 11, a wrist 17, an assembling clamping jaw 8, a servo driving device and a connecting rod 15; one end of the connecting rod 15 is connected to the big arm 4 through a seventh revolute pair 5, and the other end of the connecting rod 15 is connected to the first driving rod 11 through an eighth revolute pair 10; the base 14 is installed on a traveling chassis, the servo driving device comprises a first servo motor and a second servo motor, the first servo motor and the second servo motor are connected to the first driving rod 11 and the second driving rod 2 respectively so as to drive the first driving rod 11 and the second driving rod 2 to rotate, the first driving rod 11 and the second driving rod 2 jointly drive to complete the motion of lifting of the big arm and pitching of the wrist 17, and the like, and thus the assembling work of the assembling clamping jaw 8 is achieved. According to the servo drive dual activity degree link mechanism simple mechanical arm used for the assembling work, the shortcomings that driving motors with chain structures all need to be installed on joint positions are overcome, and the stability and reliability of running the arm are improved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a simple mechanical arm of a servo-driven two-degree-of-movement 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 ...

AI Technical Summary

Problems solved by technology

[0004] The invention adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the driving motors of the open-chain structure need to be installed at joint positions, improves the stability and reliability of the arm operation, has no cumulative error, and has high precision; the structure is compact, High rigidity, large load-carrying capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory, overcome the high precision requirements of the hydraulic system components of the hydraulic assembly manipulator, complex structure, easy oil leakage, poor reliability, low transmission efficiency, etc. shortcoming

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