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Variable-degree-of-freedom link mechanism mechanical arm for carrying operation

A technology of link mechanism and degree of freedom, which is applied in the direction of manipulators, program control manipulators, claw arms, etc., and can solve the problem of variable degree of freedom mechanism of manipulators for handling operations, large influence of hydraulic oil temperature, and environmental pollution of hydraulic oil and other problems, to achieve the effect of improving stability and reliability, compact structure and good dynamic performance

Inactive Publication Date: 2017-05-03
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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.

Method used

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  • Variable-degree-of-freedom link mechanism mechanical arm for carrying operation

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Embodiment Construction

[0007] A variable-degree-of-freedom link mechanism mechanical arm for handling operations, including a base 1, a boom lifting mechanism, a wrist link pitching mechanism, a wrist 27, a vacuum suction cup 28, a servo drive device, a first locking device 5 and The second locking device 12; the base 1 is installed on a movable slewing platform; the boom lifting mechanism includes a boom 8, a fourth connecting rod 3 and a fifth connecting rod 6, and one end of the boom 8 passes through the first The six rotating pairs 14 are connected to the base 1, and the other end is connected to the wrist link 10 through the ninth rotating pair 9; one end of the fourth connecting rod 3 is connected to the base 1 through the tenth rotating pair 2, and the other end is connected through the eleventh rotating pair The pair 4 is connected to one end of the fifth connecting rod 6, and the other end of the fifth connecting rod 6 is connected to the boom 8 through the seventh rotating pair 13; the wris...

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Abstract

The invention discloses a variable-degree-of-freedom link mechanism mechanical arm for carrying operation. The variable-degree-of-freedom link mechanism mechanical arm comprises a base 1, a large arm lifting mechanism, a wrist link pitching mechanism, a wrist 27, a vacuum chuck 28, a servo driving device, a first locking device 5 and a second locking device 12; the large arm lifting mechanism comprises a large arm 8, a fourth link 3 and a fifth link 6; the wrist link pitching mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are respectively arranged on an eleventh rotation pair 4 and an eighth rotation pair 7, and can carried out timing locking according to different working conditions of the variable-degree-of-freedom link mechanism mechanical arm; the servo driving device comprises a first servo motor; the first servo motor is connected with the driving rod 16 and drives the driving rod 16 to rotate; and the first locking device 5 and the second locking device 12 adopt an electromagnetic mode for locking. Two-degree-of-freedom carrying operation can be realized simply by using one driving rod, the use quantity of motors is reduced, and the construction cost of the variable-degree-of-freedom link mechanism mechanical arm is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a variable-degree-of-freedom link mechanism mechanical arm used 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. Some...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/00B25J18/04
CPCB25J5/007B25J9/0009B25J18/04
Inventor 不公告发明人
Owner GUANGXI UNIV
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