Servo drive multi-rod type variable-degree-of-freedom mechanical arm used for transport work

Abstract

The invention discloses a servo drive multi-rod type variable-degree-of-freedom mechanical arm used for transport work. The servo drive multi-rod type variable-degree-of-freedom arm used for the transport work is composed of a base 1, a driving rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a big arm 2, a wrist connecting rod 6, a second connecting rod 22, a third connecting rod 26, a wrist 27, a vacuum sucking disc 28, a servo driving device, a first locking device 23 and a second locking device 24; the big arm 2 is connected to the base through a first revolute pair 10, the first locking device 23 and the second locking device 24 are installed on a seventh revolute pair 16 and an eleventh revolute pair 19 respectively, and the servo driving device comprises a first servo motor, and is connected to the driving rod 13 to drive the rotation of the driving rod 13; the first locking device 23 and the second locking device 24 are locked through an electromagnetism mode. According to the servo drive multi-rod type variable freedom mechanical arm used for the transport work, a connecting rod transmission mechanism is adopted to replace a hydraulic mechanism, the disadvantages that the hydraulic mechanism is prone to oil leakage and the mechanism is complicated are solved, through the adoption of a locking device on the revolute pair, different working conditions, and the quantity of the adopted motors is smaller than that of the degree of freedom of the mechanism.

Description

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

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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