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

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...

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.

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