CN106737727A - A kind of servo-drive multi-rod variable freedom mechanical arm for transport operation - Google Patents

Abstract

A servo-driven multi-rod variable-degree-of-freedom mechanical arm for handling operations, consisting of a base 1, an active rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a large arm 2, and a wrist connection Rod 6, second connecting rod 22, third connecting rod 26, wrist 27, vacuum suction cup 28, servo drive device, first locking device 23 and second locking device 24; The pair 10 is connected on the base, and the first locking device 23 and the second locking device 24 are installed on the seventh rotating pair 16 and the eleventh rotating pair 19 respectively, and the servo driving device includes a first servo motor, and the active The rod 13 is connected to drive it to rotate; the first locking device 23 and the second locking device 24 are locked electromagnetically. The invention adopts the connecting rod transmission mechanism to replace the hydraulic mechanism, which solves the disadvantages of easy oil leakage and complicated mechanism of the hydraulic mechanism. The locking device on the revolving pair can adapt to different working conditions, and the number of motors used is less than the degree of freedom of the mechanism.

Description

A servo-driven multi-rod variable-degree-of-freedom mechanical arm for handling operations

technical field

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

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. Sometimes there will be overheating, weak work and other phenomena; hydraulic components require high machining accuracy, strict assembly requirements, difficult manufacturing, and high technical and difficult maintenance requirements during use. With the increase of the function of the handling manipulator, its hydraulic system is becoming more and more complex, and the failure is more sudden and concealed. The mechanical handling manipulator uses mechanical transmission parts to realize the handling action, which has the advantages of being strong and durable, but the traditional single-degree-of-freedom mechanical handling manipulator cannot complete complex actions, and its application range is very limited. The mechanical controllable mechanism electric The mechanical arm of the handling operation replaces the hydraulic transmission with a linkage mechanism. When the active lever is driven by a servo motor, it is easy to realize automation and numerical control control, which solves some shortcomings of the hydraulic system, but there is a degree of freedom that needs to be equipped with the linkage mechanism. The same number of control motors are used to control the problems of mechanism weight, large motion inertia and high cost caused by complex structure.

The variable degree of freedom mechanism adapts to the functional requirements of different stages by combining new topological structures. At present, there are very few variable-degree-of-freedom mechanisms that can be applied to actual operations, and no variable-degree-of-freedom mechanisms that have been applied to handling manipulators have been seen.

Contents of the invention

The purpose of the present invention is to provide a servo motor-driven link type variable-degree-of-freedom handling manipulator, which overcomes the shortcomings of the hydraulic system components of the hydraulic handling manipulator, such as high precision requirements, complex structure, and easy oil leakage, and overcomes the open chain structure. All the driving motors need to be installed at the joint position, and the number of controllable driving motors is less than the degree of freedom of the linkage mechanism of the handling manipulator, which overcomes the need for the existing mechanical electric handling manipulator to be equipped with the freedom of the linkage mechanism The shortcomings of controlling the same number of control motors, simplifying the complexity of the structure, reducing the weight, motion inertia, volume and cost of the mechanism. In order to achieve the above object, the present invention provides a servo-driven multi-rod variable degree of freedom mechanical arm for handling operations, which consists of a base 1, an active rod 13, a first connecting rod 15, a first connecting member 5, a fourth connecting rod Rod 4, big arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod 26, wrist 27, vacuum sucker 28, servo drive device, first locking device 23 and second locking device 24; The boom 2 is connected to the base through the first swivel pair 10, the other end of the boom 2 is connected to the wrist link 6 through the third swivel pair 8; the active rod 13 is connected to the base 1 through the fifth swivel pair 12 , the other end is connected with the first connecting rod 15 through the sixth rotating pair 14, and the first connecting rod 15 is connected with the first connecting member 5 through the seventh rotating pair 16; the first connecting member 5 is connected with the eighth rotating pair 17 The second connecting rod 22 is connected, and the other end of the second connecting rod 22 is connected with the wrist connecting rod 6 through the ninth rotating pair 7; the fourth connecting rod 4 is connected with the base 1 through the thirteenth rotating pair 20, and one end is connected through the The ten rotating pair 18 is connected with the first connecting piece 5, the middle part is connected with the third connecting rod 26 through the eleventh rotating pair 19, and the other end of the third connecting rod 26 is connected with the boom 2 through the rotating pair 25; The first locking device 23 and the second locking device 24 are installed on the seventh rotating pair 16 and the eleventh rotating pair 19 respectively, and are locked in good time according to different working conditions; the servo drive device includes a first servo motor, and the active rod 13 is connected to drive it to rotate; the first locking device 23 and the second locking device 24 are locked electromagnetically.

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 bearing capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory. A locking device is added to the linkage mechanism, and it is allowed to lock and release a specific rotating pair according to the different working conditions of the mechanism, which reduces the degree of freedom of the mechanism in a timely manner, and realizes the possibility of being used under the condition of fulfilling the expected requirements. The number of controlled driving motors is less than the degree of freedom of the connecting rod mechanism of the handling manipulator, and the two-degree-of-freedom handling operation can be realized by using one active rod, which overcomes the need for the existing handling manipulator to be equipped with the same number of control motors as the degree of freedom of the connecting rod mechanism To control the shortcomings, simplify the complexity of the structure, reduce the weight, inertia, volume and cost of the mechanism, increase the controllability and stability of the mechanism, and improve work efficiency. At the same time, it also overcomes the shortcomings of the hydraulic system components of the hydraulic handling manipulator, such as high precision requirements, complex structure, easy oil leakage, poor reliability, and low transmission efficiency.

Description of drawings

FIG. 1 is a schematic structural view of a servo-driven multi-rod variable-degree-of-freedom mechanical arm used for handling operations according to the present invention.

detailed description

A servo-driven multi-rod variable-degree-of-freedom mechanical arm for handling operations, consisting of a base 1, an active rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a large arm 2, and a wrist connection Rod 6, second connecting rod 22, third connecting rod 26, wrist 27, vacuum suction cup 28, servo drive device, first locking device 23 and second locking device 24; the base 1 is installed on a movable On the slewing platform; the boom 2 is connected to the base through the first swivel pair 10, and the other end of the boom 2 is connected to the wrist link 6 through the third swivel pair 8; It is connected with the base 1, and the other end is connected with the first connecting rod 15 through the sixth rotating pair 14, and the first connecting rod 15 is connected with the first connecting member 5 through the seventh rotating pair 16; the first connecting member 5 is connected through the eighth rotating pair The rotating pair 17 is connected to the second connecting rod 22, and the other end of the second connecting rod 22 is connected to the wrist connecting rod 6 through the ninth rotating pair 7; the fourth connecting rod 4 is connected to the base 1 through the thirteenth rotating pair 20 , one end is connected to the first connecting member 5 through the tenth rotating pair 18, the middle part is connected to the third connecting rod 26 through the eleventh rotating pair 19, and the other end of the third connecting rod 26 is connected to the boom 2 through the rotating pair 25 connection; the first locking device 23 and the second locking device 24 are installed on the seventh rotating pair 16 and the eleventh rotating pair 19 respectively, and are locked in time according to different working conditions; the servo drive device includes a first servo motor , is connected with the active rod 13 to drive it to rotate; the first locking device 23 and the second locking device 24 are locked by electromagnetic means.

In each working condition, when the lifting working condition, the first locking device 23 and the second locking device 24 are locked, the seventh rotating pair 16 and the eleventh rotating pair 19 lose their degrees of freedom, at this time the active rod 13 passes through The joint action of the first connecting rod 15, the third connecting rod 26, the first connecting member 5', the fourth connecting rod 4, the big arm 2 and the second connecting rod 22 lifts the wrist connecting rod 6 up and down. When the wrist link 6 is alone in the pitching condition, the first locking device 23 is opened, the seventh rotating pair 16 recovers the degree of freedom, the second locking device 24 is locked, and the eleventh rotating pair 19 loses the degree of freedom. At this time, the active lever 13 The wrist link 6 is pitched under the action of the first link 15 , the first link 5 and the second link 22 . The first locking device 7 and the second locking device 29 can choose to lock or open respectively according to different working conditions, and jointly complete the movement of the boom 2 lifting, the wrist link 6 and the wrist 27 pitching, etc., to realize the vacuum suction cup 28 The first locking device 23 and the second locking device 24 can be locked by electromagnetic means, and the control is easy to realize.

Claims (1)

1. A servo-driven multi-rod variable degree of freedom mechanical arm for handling operations, characterized in that it consists of a base 1, an active rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a large Arm 2, wrist connecting rod 6, second connecting rod 22, third connecting rod 26, wrist 27, vacuum suction cup 28, servo drive device, first locking device 23 and second locking device 24; the base 1 is installed on a movable slewing platform; the boom 2 is connected to the base through the first swivel pair 10, and the other end of the boom 2 is connected to the wrist link 6 through the third swivel pair 8; the active rod 13 is connected to the wrist through the The fifth rotating pair 12 is connected to the base 1, and the other end is connected to the first connecting rod 15 through the sixth rotating pair 14, and the first connecting rod 15 is connected to the first connecting member 5 through the seventh rotating pair 16; the first connecting Part 5 is connected with the second connecting rod 22 through the eighth rotating pair 17, and the other end of the second connecting rod 22 is connected with the wrist connecting rod 6 through the ninth rotating pair 7; the fourth connecting rod 4 is connected through the thirteenth rotating pair 20 It is connected with the base 1, one end is connected with the first connecting member 5 through the tenth rotating pair 18, the middle part is connected with the third connecting rod 26 through the eleventh rotating pair 19, and the other end of the third connecting rod 26 is connected through the rotating pair 25 Connected with the boom 2; the first locking device 23 and the second locking device 24 are installed on the seventh rotating pair 16 and the eleventh rotating pair 19 respectively, and are locked in time according to different working conditions; the servo drive device It includes a first servo motor connected with the active rod 13 to drive its rotation; the first locking device 23 and the second locking device 24 are locked by electromagnetic means.