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Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work

A servo-driven, degree-of-freedom technology, applied in manipulators, program-controlled manipulators, claw arms, etc., can solve the problems of variable-degree-of-freedom mechanisms that have not been seen in manipulators, large influence of hydraulic oil temperature, and environmental pollution of hydraulic oil. Achieve the effect of overcoming the high precision requirements of hydraulic system components, improving stability and reliability, and good dynamic performance

Inactive Publication Date: 2017-05-17
GUANGXI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are two types of mechanical and hydraulic arms for assembly operations. At present, most of the robotic arms for assembly operations 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, It is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment; 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 assembly operation robots have been seen.

Method used

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  • Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work

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Embodiment Construction

[0007] A simple servo-driven rod-type variable-degree-of-freedom mechanical arm for assembly operations, including a base 1, a large arm 17, a wrist link pitch mechanism, a wrist 21, an assembly clamping gripper 22, a servo drive device, and a first locking mechanism. Device 8, second locking device 16; The base 1 is installed on a movable rotary platform; The wrist link pitching mechanism is composed of the wrist link and the pitching mechanism, and the wrist link rotates through the ninth coaxial The pair 19 and the tenth rotating pair 20 are connected to the boom 17. The pitch mechanism is composed of the active part 3, the first connecting rod 5, the second connecting rod 10 and the third connecting rod 9. One end of the active part 3 passes through the first The rotating pair 2 is connected to the base 1, and the other end is connected to the first connecting rod 5 through the second rotating pair 4; the other end of the first connecting rod 5 is connected to the second co...

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PUM

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Abstract

A servo driving rod type variable-freedom-degree simple mechanical arm for assembling work comprises a base (1), a large arm (17), a wrist connecting rod pitching mechanism, a wrist (21), an assembling clamping gripper (22), a servo driving device, a first locking device (8) and a second locking device (16); the wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism, the wrist connecting rod is connected to the large arm (17) through a ninth rotation pair (19) and a tenth rotation pair (20) coaxial with the ninth rotation pair (19), and the pitching mechanism is composed of a driving piece (3), a first connecting rod (5), a second connecting rod (10) and the third connecting rod (9); the first locking device (8) and the second locking device (16) are installed on a fourth rotation pair (7) and a seventh rotation pair (15) correspondingly, so that locking is conducted at the right time according to different work conditions of a mechanism; and electromagnetic locking is achieved through the first locking device (8) and the second locking device (16). According to the servo driving rod type variable-freedom simple mechanical arm for the assembling work, the defect that driving motors of a chain-opening structure all need to be installed on the joint position is overcome, and the number of the used controllable driving motors is smaller than the degree of freedom of a mechanical arm connecting rod mechanism for assembling work.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a simple servo-driven rod-type variable-degree-of-freedom mechanical arm used for assembly 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 wide application of assembly operation robotic arms in assembly operations. There are two types of mechanical and hydraulic arms for assembly operations. At present, most of the robotic arms for assembly operations 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, It is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and v...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J5/00B25J9/12B25J11/00
CPCB25J18/00B25J5/007B25J9/126B25J11/00
Inventor 不公告发明人
Owner GUANGXI UNIV
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