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Mechanical arm provided with two-degree-of-freedom connecting rod mechanism and used for transporting operation

A technology of link mechanism and degree of freedom, applied in the mechanical field, can solve problems such as high precision requirements, low transmission efficiency, complex structure, etc., and achieve the effect of overcoming high precision requirements, good dynamic performance, and low inertia

Inactive Publication Date: 2018-06-12
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It overcomes the shortcomings of high precision requirements, complex structure, easy oil leakage, poor reliability, and low transmission efficiency of the hydraulic system components of the hydraulic handling manipulator.

Method used

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  • Mechanical arm provided with two-degree-of-freedom connecting rod mechanism and used for transporting operation

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Effect test

Embodiment Construction

[0006] A mechanical arm with a two-degree-of-freedom link mechanism for handling operations, including a base 1, a large arm 17, a first active rod 3, a first connecting rod 5, a wrist connecting rod 7, a second active rod 14, and a second connecting rod 19. The third connecting rod 11, connecting block 9, wrist 21, vacuum suction cup 22, driving device; one end of the big arm 17 is connected to the base 1 through the first rotating pair 16, and the other end is connected to the wrist through the second rotating pair 18. One end of the first active rod 3 is connected to the base 1 through the third rotating pair 2, the other end is connected to the first connecting rod 5 through the fourth rotating pair 4, and the first connecting rod 5 is connected to the fifth rotating pair 6 It is connected with the wrist link 7; one end of the second active rod 14 is connected with the base 1 through the sixth rotating pair 15, and the other end is connected with the second connecting rod 1...

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Abstract

The invention discloses a mechanical arm provided with a two-degree-of-freedom connecting rod mechanism and used for a transporting operation. The mechanical arm comprises a base 1, a big arm 17, a first driving rod 3, a first connecting rod 5, a wrist connecting rod 7, a second driving rod 14, a second connecting rod 19, a third connecting rod 11, a connecting block 9, a wrist 21, a vacuum suction disc 22 and a driving device, wherein one end of the big arm 17 is connected with the base 1 through a first rotation pair 16 while the other end of the big arm is connected with the wrist connecting rod 7 through a second rotation pair 18; one end of the first driving rod 3 is connected with the base 1 through a third rotation pair 2; and the driving device consists of a first servo motor and asecond servo motor, is respectively connected with the first driving rod 3 and the second driving rod 14 and is used for driving the first driving rod 3 and the second driving rod 14. According to the mechanical arm provided with the two-degree-of-freedom connecting rod mechanism and used for the transporting operation disclosed by the invention, the stability and the reliability of an operationof the arm are improved, accumulative errors are avoided, and the precision is higher; the mechanical arm has a compact structure, and is high in rigidity, large in bearing ability, low in inertia andgood in dynamic performance; and moreover, flexibility and diversification of movement tracks of the arm can be achieved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a two-degree-of-freedom link mechanism mechanical arm used for carrying operations. Background technique [0002] At present, most of the general-purpose handling manipulators in the manufacturing industry are joint-type motor-driven manipulators with a series structure in the form of an open chain. various actions. Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load on the drive motor, increase the moment of inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are installed at the joint position, resulting in l...

Claims

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Application Information

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IPC IPC(8): B25J9/12
CPCB25J9/126B25J9/106
Inventor 不公告发明人
Owner GUANGXI UNIV
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