CN106607635A - Servo motor driven variable degree-of-freedom connecting mechanism for simple oxygen-acetylene cutting machine - Google Patents
Servo motor driven variable degree-of-freedom connecting mechanism for simple oxygen-acetylene cutting machine Download PDFInfo
- Publication number
- CN106607635A CN106607635A CN201611115452.XA CN201611115452A CN106607635A CN 106607635 A CN106607635 A CN 106607635A CN 201611115452 A CN201611115452 A CN 201611115452A CN 106607635 A CN106607635 A CN 106607635A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- clamper
- large arm
- freedom
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Arc Welding In General (AREA)
Abstract
The invention relates to a servo motor driven variable degree-of-freedom connecting mechanism for a simple oxygen-acetylene cutting machine. The mechanism comprises a base 1, a large arm 17, a clamp holder connecting rod pitch mechanism, a clamp holder 21, a cutting gun 22, a servo driving device, a first locking device 8 and a second locking device 16; the clamp holder connecting rod pitch mechanism is composed of clamp holder connecting rod and a pitch mechanism, the clamp holder connecting rod is connected to the large arm 17 through a ninth revolute pair 19 and a tenth revolute pair 20 which are coaxial, the pitch mechanism is composed of a driving piece 3, a first connecting rod 5, a second connecting rod 10 and a third connecting rod 9, and the first locking device 8 and the second locking device 16 are separately mounted on a fourth revolute pair 7 and the seventh revolute pair 15 and timely lock according to different working conditions of the mechanism; the first locking device 8 and the second locking device 16 lock in an electromagnetic mode. The mechanism provided by the invention overcomes the defect that driving motors of open chain structures need to be mounted in joint positions, and the quantity of used controllable driving motors is smaller than the degree of freedom of an oxygen-acetylene cutting connecting mechanism.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of variable freedom of servomotor driving for simple oxygen-acetylene cutting machine
Degree linkage.
Background technology
The general oxygen-acetylene cutting machine great majority of currently manufactured industry are the cascaded structure joint type Motor drive machines for open form
Tool handss, which is mainly characterized in that motor is all arranged on each joint of mechanical hand, each by motor driving mechanical handss
The rotation in individual joint, realizes the various actions of mechanical hand.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all arranged on the position in joint, and this frame mode has problems with：Manipulator arm needs the weight of carrying motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, can so increase the load of motor, increase the fortune of arm
Dynamic inertia, causes mechanical hand dynamic property to decline, while motor all causes the accumulation of mechanical hand to miss installed in joint position
Poor big, little bearing capacity, complex structure, the degree of modularity are low.It is with the development and the raising of control technology of motor technology, in parallel
Mechanism provides extensive development space for mechanical hand, not only has work by the multiple freedom parallel mechanism that controlled motor drives
Space is big, flexible movements, the movement locus output that complexity can be completed, while also having low cost of manufacture, maintaining simple etc.
Advantage.
Variable Freedom Mechanism adapts to the functional requirement of different phase by being combined into new topological structure.Can apply at present
It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to oxygen-acetylene cutting machine.
The content of the invention
It is an object of the invention to provide a kind of servomotor driving for simple oxygen-acetylene cutting machine can variable freedom company
Linkage, overcome fluid pressure type oxygen-acetylene cutting machine hydraulic system components accuracy to have high demands, complex structure, easy oil leakage the shortcomings of, overcome
The motor of open-chain structure is required for the shortcoming installed in joint position, and causes the quantity of controllable drive motor to be less than gas cutting
The degree of freedom of blanking machine linkage, overcomes the electronic oxygen-acetylene cutting mechanism of existing machinery formula to need to be equipped with and linkage degree of freedom
The controlled motor of equivalent amount simplifies the complexity of structure come the shortcoming being controlled, and the weight of reducing mechanism, motion are used
Amount, volume and cost.For achieving the above object, the invention provides a kind of servomotor for simple oxygen-acetylene cutting machine drives
Can variable freedom linkage, including base 1, large arm 17, clamper connecting rod luffing mechanism, clamper 21, burning torch 22, servo drive
Dynamic device and the first locking device 8, the second locking device 16；The clamper connecting rod luffing mechanism is by clamper connecting rod and bows
Mechanism's composition is faced upward, the clamper connecting rod is connected in large arm 17 by the 9th coaxial rotation secondary 19 and the tenth rotation secondary 20,
The luffing mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, and 3 one end of driving link passes through first
Rotate secondary 2 to be connected on base 1, the other end is rotated secondary 4 by second and is connected with first connecting rod 5；5 other end of first connecting rod passes through
3rd rotates secondary 6 is connected on second connecting rod 10；10 another two ends of second connecting rod are rotated secondary 11 by the 5th respectively and are connected with clamper
Bar 12 connects, and rotates secondary 7 by the 4th and is connected with third connecting rod 9.Third connecting rod 9 is rotated secondary 18 by the 6th and is connected with large arm 17
Connect, first locking device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate on secondary 15, according to
The different operating mode of mechanism is locked in good time；Servo drive includes the first servomotor, is connected to drive which with driving lever 3
Rotate；First locking device 8, the second locking device 16 are locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom oxygen-acetylene cutting machine adopt controllable many bar closed chain mechanisms,
The motor for overcoming open-chain structure is required for the shortcoming installed in joint position, improve arm operation stationarity and can
By property, without cumulative error, precision is higher；Compact conformation, rigidity are high, and large carrying capacity, inertia are low, dynamic property is good, arm fortune
Dynamic rail mark flexible and diverse.Install locking device on linkage additional, and allow which to lock and loosen according to the different operating modes of mechanism
It is specific to rotate secondary, the degree of freedom of mechanism is reduced in good time, is realized in the case where expected requirement is completed, the controllable drive for using
Degree of freedom of the quantity of galvanic electricity machine less than oxygen-acetylene cutting machine linkage, is capable of achieving under Three Degree Of Freedom gas cutting using two driving levers
Material operation, overcomes existing oxygen-acetylene cutting machine to need to be equipped with the controlled motor of linkage degree of freedom equivalent amount to be controlled
Shortcoming, simplify the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost increased the controllable of mechanism
Property and stability, improve work efficiency.Simultaneously also overcome fluid pressure type oxygen-acetylene cutting machine hydraulic system components accuracy have high demands,
Complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is that a kind of servomotor driving for simple oxygen-acetylene cutting machine of the present invention can variable freedom connecting rod machine
The structural representation of structure.
Specific embodiment
A kind of servomotor for simple oxygen-acetylene cutting machine drive can variable freedom linkage, including base 1, large arm
17th, clamper connecting rod luffing mechanism, clamper 21, burning torch 22, servo drive and the first locking device 8, second are locked
Device 16；The base 1 is arranged on removable revolving dial；The clamper connecting rod luffing mechanism by clamper connecting rod and
Luffing mechanism is constituted, and the clamper connecting rod is connected to large arm 17 by the 9th coaxial rotation secondary 19 and the tenth rotation secondary 20
On, the luffing mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, and 3 one end of driving link passes through
First rotates secondary 2 is connected on base 1, and the other end is rotated secondary 4 by second and is connected with first connecting rod 5；5 other end of first connecting rod
Secondary 6 are rotated by the 3rd to be connected on second connecting rod 10；10 another two ends of second connecting rod rotate secondary 11 with clamping by the 5th respectively
Device connecting rod 12 connects, and rotates secondary 7 by the 4th and is connected with third connecting rod 9.Third connecting rod 9 rotates secondary 18 with large arm 17 by the 6th
Connection, first locking device 8, the second locking device 16 are separately mounted to the 4th rotation the secondary 7, the 7th and rotate on secondary 15, press
Locked according to the different operating mode of mechanism in good time；Servo drive includes the first servomotor, is connected to drive with driving lever 3
Its rotation；First locking device 8, the second locking device 16 are locked using electromagnetic mode.
In each operating mode operation, during 17 lifting of large arm, the second locking device 16 is opened, and the 7th rotates secondary 15 affranchises
Degree, the first locking device 8 are locked, i.e., the 4th kinematic pair 7 loses degree of freedom.Now, third connecting rod 9, second connecting rod 10, clamper
Connecting rod 12 and large arm 17 are mutually relative to lose degree of freedom, and link is integral.Now under driving link driving, motion connects by first
Bar 5 is delivered to large arm 17, and large arm 17 rotates pair 13 around the 7th and eighth-turn dynamic secondary 15 is rotated and realizes large arm lifting.Clamper connecting rod
During pitching, the first locking device 8 is opened, 7 degree of affranchising of the 4th kinematic pair, and the second locking device 16 is locked, and the 7th rotates secondary
15 lose degree of freedom, and large arm respect thereto loses degree of freedom, now move across first connecting rod 5 and the under the driving of driving link 3
Two connecting rods 10 pass to clamper connecting rod 12 and realize clamper connecting rod pitching.In whole oxygen-acetylene cutting operation process, the first locking
Device 8, the second locking device 16 select tight lock or open according to different working conditions, respectively, complete jointly 2 lifting of large arm,
The motion such as pitching of clamper connecting rod 12 and clamper 21, realizes the oxygen-acetylene cutting operation of burning torch 22.First locking device 8,
Two locking devices 16 are locked using electromagnetic mode, and control is easily realized.
Claims (1)
1. drive can variable freedom linkage for a kind of servomotor for simple oxygen-acetylene cutting machine, it is characterised in that include：
Base 1, large arm 17, clamper connecting rod luffing mechanism, clamper 21, burning torch 22, servo drive and the first locking device
8th, the second locking device 16；The base 1 is arranged on removable revolving dial；The clamper connecting rod luffing mechanism is by pressing from both sides
Holder connecting rod and luffing mechanism composition, the clamper connecting rod are connected by the 9th coaxial rotation secondary 19 and the tenth rotation secondary 20
To in large arm 17, the luffing mechanism is made up of driving link 3, first connecting rod 5, second connecting rod 10 and third connecting rod 9, driving link 3
One end rotates secondary 2 by first and is connected on base 1, and the other end is rotated secondary 4 by second and is connected with first connecting rod 5；First connects
5 other end of bar rotates secondary 6 by the 3rd and is connected on second connecting rod 10；10 another two ends of second connecting rod rotate secondary by the 5th respectively
11 are connected with clamper connecting rod 12, are rotated secondary 7 by the 4th and are connected with third connecting rod 9, and third connecting rod 9 rotates secondary 18 by the 6th
It is connected with large arm 17, first locking device 8, the second locking device 16 are separately mounted to secondary 7, the 7th rotation of the 4th rotation
On secondary 15, locked according to the different operating mode of mechanism in good time；Servo drive includes the first servomotor, with driving lever 3
Connect to drive which to rotate；First locking device 8, the second locking device 16 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115452.XA CN106607635A (en) | 2016-12-07 | 2016-12-07 | Servo motor driven variable degree-of-freedom connecting mechanism for simple oxygen-acetylene cutting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115452.XA CN106607635A (en) | 2016-12-07 | 2016-12-07 | Servo motor driven variable degree-of-freedom connecting mechanism for simple oxygen-acetylene cutting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607635A true CN106607635A (en) | 2017-05-03 |
Family
ID=58636540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611115452.XA Pending CN106607635A (en) | 2016-12-07 | 2016-12-07 | Servo motor driven variable degree-of-freedom connecting mechanism for simple oxygen-acetylene cutting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607635A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296488A (en) * | 2020-10-25 | 2021-02-02 | 苏州威尔汉姆堆焊技术有限公司 | Welding device for welding in pipe |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014083580A (en) * | 2012-10-26 | 2014-05-12 | Taiko Co Ltd | Fusion cutting machine |
| CN203679489U (en) * | 2013-12-11 | 2014-07-02 | 上海宝业机电科技有限公司 | Numerically-controlled H-shaped steel cutting machine |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| CN104259619A (en) * | 2014-08-22 | 2015-01-07 | 哈尔滨工程大学 | Portable cutting manipulator |
-
2016
- 2016-12-07 CN CN201611115452.XA patent/CN106607635A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014083580A (en) * | 2012-10-26 | 2014-05-12 | Taiko Co Ltd | Fusion cutting machine |
| CN203679489U (en) * | 2013-12-11 | 2014-07-02 | 上海宝业机电科技有限公司 | Numerically-controlled H-shaped steel cutting machine |
| CN104047315A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Loading mechanism with active metamorphic function |
| CN104259619A (en) * | 2014-08-22 | 2015-01-07 | 哈尔滨工程大学 | Portable cutting manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296488A (en) * | 2020-10-25 | 2021-02-02 | 苏州威尔汉姆堆焊技术有限公司 | Welding device for welding in pipe |
| CN112296488B (en) * | 2020-10-25 | 2022-08-09 | 苏州威尔汉姆堆焊技术有限公司 | Welding device for welding in pipe |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106607635A (en) | Servo motor driven variable degree-of-freedom connecting mechanism for simple oxygen-acetylene cutting machine | |
| CN107053122A (en) | A kind of servo-drive multi link for simple oxygen-acetylene cutting machine can variable freedom linkage | |
| CN106607637A (en) | Dual servo motor driven variable degree-of-freedom multi-linkage mechanism for gas cutting blanking machine | |
| CN106607876A (en) | Simple variable-degree of freedom mechanical arm for handling operation | |
| CN106607869A (en) | Servo motor-driven variable-degree of freedom connecting rod mechanism for simple gas cutting blanking machine | |
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN106607634A (en) | Servo driven variable degree-of-freedom multi-connecting mechanism for oxygen-acetylene cutting machine | |
| CN106609514A (en) | Connecting rod type variable freedom degree timber grab driven by servo motor | |
| CN106607914A (en) | Servo drive rod type variable freedom degree mechanical arm used for assembling work | |
| CN106670618A (en) | Variable-degree-of-freedom connecting rod mechanism used for novel gas cutting discharging machine and provided with revolute pair locking devices | |
| CN106607631A (en) | Variable-degree of freedom multi-connecting rod gas cutting blanking machine | |
| CN106607632A (en) | Gas cutting blanking machine adopting two-range of motion connecting rod mechanism | |
| CN106671128A (en) | Servo driving rod type variable-freedom-degree simple mechanical arm for assembling work | |
| CN106607872A (en) | Servo driving connection rod type variable degree-of-freedom connection rod mechanism for oxygen-acetylene cutting machine | |
| CN106607630A (en) | Simple variable-degree-of-freedom gas cutting blanking machine | |
| CN106607636A (en) | Servo motor drive multi-motion-degree connecting rod mechanism for oxygen-acetylene cutting machine | |
| CN106607653A (en) | Variable degree-of-freedom multilink welding machine driven by servo motor | |
| CN106826792A (en) | It is a kind of to contain rotation secondary locking device variable freedom linkage for new oxygen-acetylene cutting machine | |
| CN106671057A (en) | Simple gas cutting blanking machine adopting variable-degree-of-freedom connecting rod mechanism | |
| CN106825849A (en) | A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage | |
| CN106799529A (en) | A kind of variable active degree linkage for oxygen-acetylene cutting machine | |
| CN106607890A (en) | A movable two-degree-of-freedom connecting rod mechanism gas cutting blanking machine | |
| CN106607870A (en) | A novel movable two-range-of-motion gas cutting blanking machine | |
| CN106609515A (en) | Multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving | |
| CN106737838A (en) | One kind can variable freedom multi link mechanical arm for transport operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
|
| WD01 | Invention patent application deemed withdrawn after publication |