Servo drive rod variable-degree-of-freedom mechanical arm for carrying operation

Abstract

The invention discloses a servo drive rod variable-degree-of-freedom mechanical arm for carrying operation. The mechanical arm is characterized by comprising a base 1, a large arm lifting mechanism, awrist connecting rod pitching mechanism, a wrist 31, a vacuum sucker 32, a servo driving device, a first locking device 9 and a second locking device 19; the large arm lifting mechanism consists of alarge arm 14 and a lifting mechanism; the large arm 14 is connected to the base 1 through a seventh rotating pair 13; the servo driving device comprises a first servo motor which is connected with adriving rod 3 and drives the driving rod 3 to rotate; and the first locking device 9 and the second locking device 19 are locked by adopting an electromagnetic mode. A novel connecting rod transmission mechanism is adopted to replace traditional hydraulic transmission; the defects of complicated hydraulic system, easy oil leakage, high machining precision requirement and the like in a hydraulic carrying operation mechanical arm are solved; and as the locking devices are adopted on a rotating pair, one driving rod can be used for realizing two-degree-of-freedom carrying operation, and the motoruse number is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven rod-type variable-degree-of-freedom mechanical arm used for carrying 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...

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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