Freedom degree changeable link mechanism carrying operation mechanical arm containing revolute pair locking device

Abstract

A freedom degree changeable link mechanism carrying operation mechanical arm containing a revolute pair locking device comprises a base 1, a big arm telescoping mechanism, a lower arm lifting mechanism, a wrist connecting rod keeping mechanism, a wrist 27, a vacuum suction cup 28, a servo drive device, a first locking device 25 and a second locking device 26. The big arm telescoping mechanism is composed of a fourth connecting rod 5, a first drive rod 3, a second drive rod 20 and a first connecting rod 22. The keeping mechanism is composed of a second connecting rod 17, a keeping connecting rod 18 and a big arm 8. The first locking device 25 is arranged on a second revolute pair 4, and the second locking mechanism 26 is arranged on a tenth revolute pair 16. The servo drive device comprises a first servo motor and a second servo motor which are connected with the first drive rod 3 and the second drive rod 20 to drive the first drive rod 3 and the second drive rod 20 to rotate. The freedom degree changeable link mechanism carrying operation mechanical arm adopts a freedom degree changeable connecting rod transmission mechanism to replace traditional hydraulic transmission, and the defects that a hydraulic carrying operation mechanical arm is complex 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 transporting operation mechanical arm of a variable-degree-of-freedom link mechanism containing a rotating pair locking device. 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 some...

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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