CN106607651A - Novel welding mechanical arm using variable freedom degree connecting rod mechanism and comprising rotation pair locking devices - Google Patents

Novel welding mechanical arm using variable freedom degree connecting rod mechanism and comprising rotation pair locking devices Download PDF

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Publication number
CN106607651A
CN106607651A CN201611062373.7A CN201611062373A CN106607651A CN 106607651 A CN106607651 A CN 106607651A CN 201611062373 A CN201611062373 A CN 201611062373A CN 106607651 A CN106607651 A CN 106607651A
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CN
China
Prior art keywords
rod
arm
locking
rotates
wrist
Prior art date
Application number
CN201611062373.7A
Other languages
Chinese (zh)
Inventor
不公告发明人
Original Assignee
广西大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN201611062373.7A priority Critical patent/CN106607651A/en
Publication of CN106607651A publication Critical patent/CN106607651A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element

Abstract

A novel welding mechanical arm using a variable freedom degree connecting rod mechanism and comprising rotation pair locking devices is characterized by comprising a base 19, a second drive rod 21, a second connecting rod 2, an upper arm 4, a wrist connecting rod 7, a first drive rod 17, a big arm 9, a fourth connecting rod 14, a first connecting rod 12, a wrist 27, a welding gun 28, a servo drive device and a third connecting rod 10; a second rotation pair 15 is provided with a first electromagnetic locking device 23; a tenth rotation pair 3 is provided with a second electromagnetic locking device 24; the servo drive device comprises a first servo motor and a second servo motor, and the first servo motor and the second servo motor are connected with the first drive rod 17 and the second drive rod 21 so as to drive the first drive rod 17 and the second drive rod 21 to rotate; and the first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner and jointly finish the movement of big arm ascending and descending, wrist connecting rod and wrist pitching movement and the like, and the welding work of the welding gun 28 is achieved. According to the novel welding mechanical arm using the variable freedom degree connecting rod mechanism and comprising the rotation pair locking devices, the variable freedom degree connecting rod transmission mechanism replaces traditional hydraulic transmission, and the defects that a hydraulic welding mechanical arm hydraulic system is complex, and oil leakage is likely to happen are overcome.

Description

A kind of variable freedom linkage Novel welding machine containing rotation secondary locking device Tool arm
Technical field
The present invention relates to mechanical field, particularly a kind of new containing the variable freedom linkage for rotating secondary locking device Electroplating equipment wielding machine arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes electroplating equipment wielding machine arm and exists Extensive application in weld job.Electroplating equipment wielding machine arm has mechanical type and fluid pressure type two types, current electroplating equipment wielding machine arm great majority It is hydraulic-driven, there is problems with as the medium of transmission power using hydraulic oil due to hydraulic drive:Its startability compared with Difference, easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking pollutes the environment;Hydraulic oil temperature influence Larger, aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, the phenomenon such as powerless in work;Hydraulic Elements processing essence Degree has high demands, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires that technology is higher, and difficulty is larger.With weldering The increase of mechanical arm function is connect, its hydraulic system becomes increasingly complex, broken down with more sudden, disguised.Mechanical type is welded It is to realize welding action using mechanical transmissioning piece to connect mechanical arm, have the advantages that it is sturdy and durable, but traditional single-degree-of-freedom machine Tool formula electroplating equipment wielding machine arm can not complete the action of complexity, and range of application is extremely limited, the electronic electroplating equipment wielding machine of mechanical type controllable mechanism Arm, with linkage hydraulic drive is instead of, and when driving lever is driven by servomotor, easily realizes automatization, NC postprocessing control System, solves some shortcomings of hydraulic system presence, but there is the control for needing outfit and linkage degree of freedom equivalent amount Motor is being controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
Variable Freedom Mechanism is by the functional requirement that is combined into new topological structure to adapt to different phase.Can apply at present It is also little in actual Variable Freedom Mechanism, had not seen the Variable Freedom Mechanism for being applied to electroplating equipment wielding machine arm.
The content of the invention
It is an object of the invention to provide a kind of containing the variable freedom linkage novel welding for rotating secondary locking device Mechanical arm, overcomes the shortcomings of fluid pressure type electroplating equipment wielding machine arm hydraulic system element required precision height, complex structure, easy oil leakage, overcomes The motor of open-chain structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor less than welding The degree of freedom of robot linkage mechanism, overcomes the electronic electroplating equipment wielding machine arm structure 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 present invention provides a kind of containing the variable freedom connecting rod machine for rotating secondary locking device Structure novel welding machinery arm, including base 19, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17th, large arm 9, fourth link 14, first connecting rod 12, wrist 27, welding gun 28, servo drive and third connecting rod 10;It is described Base 19 is arranged on removable revolving dial;Described one end of second driving lever 21 is connected to base by eighth-turn dynamic secondary 20 On 19, the other end of the second driving lever 21 rotates secondary 1 and is connected with the one end of second connecting rod 2 by the 9th, and the other end of second connecting rod 2 passes through Tenth rotates secondary 3 is connected with the one end of upper arm 4, and the other end of upper arm 4 rotates secondary 6 and is connected on wrist connecting rod 7 by the 11st;It is described The one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th, and the other end of the first driving lever 17 is rotated by the 7th Secondary 18 are connected with the one end of large arm 9, and the other end of large arm 9 rotates secondary 8 and is connected on wrist connecting rod 7 by the 5th;The fourth link 14 one end rotate pair 13 and are connected on base 19 by first, and the other end of fourth link 14 rotates secondary 15 and first by second The one end of connecting rod 12 connects, and the other end of first connecting rod 12 rotates secondary 11 and is connected with third connecting rod 10 by the 3rd, third connecting rod 10 The other end rotates secondary 5 and is connected on upper arm 4 by the 4th;Rotate second and first electromagnetic locking device 23 is installed on secondary 15; Rotate the tenth and second electromagnetic locking device 24 is installed on secondary 3;Servo drive includes the first servomotor, the second servo Motor, is connected to drive it to rotate with the first driving lever 17, the second driving lever 21;First locking device 23 and the second locking device 24 are locked using electromagnetic mode, according to different working conditions, tight lock is selected respectively or is opened, and large arm liter is completed jointly The motion such as pitching of drop, wrist connecting rod and wrist, realizes the weld job of welding gun 28.
The present invention adopts controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position The shortcoming put, improves the stationarity and reliability of arm operation, and without cumulative error, precision is higher;Compact conformation, rigidity is high, Large carrying capacity, inertia are low, dynamic property is good, arm motion track flexible and diverse.Install locking device additional on linkage, And allow it to be locked according to the different operating modes of mechanism and loosen specific rotation pair, the degree of freedom of mechanism is reduced in good time, realize In the case where expected requirement is completed, the quantity of the controllable drive motor for using is less than the freedom of electroplating equipment wielding machine arm link mechanism Degree, using a driving lever two degrees of freedom weld job is capable of achieving, and overcomes existing electroplating equipment wielding machine arm to need to be equipped with and linkage The controlled motor of degree of freedom equivalent amount simplifies the complexity of structure, the weight of reducing mechanism, fortune come the shortcoming being controlled Dynamic inertia, volume and cost, increased the controllability and stability of mechanism, improve work efficiency.Also overcome hydraulic pressure simultaneously Formula electroplating equipment wielding machine arm hydraulic system element required precision height, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 is of the present invention a kind of containing the variable freedom linkage novel welding machinery arm for rotating secondary locking device Schematic diagram.
Specific embodiment
It is a kind of containing the variable freedom linkage novel welding machinery arm for rotating secondary locking device, including base 19, the Two driving levers 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, first connecting rod 12nd, wrist 27, welding gun 28, servo drive and third connecting rod 10;The base 19 is arranged on removable revolving dial On;Described one end of second driving lever 21 is connected on base 19 by eighth-turn dynamic secondary 20, and the other end of the second driving lever 21 passes through 9th rotates secondary 1 is connected with the one end of second connecting rod 2, and the other end of second connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, The other end of upper arm 4 rotates secondary 6 and is connected on wrist connecting rod 7 by the 11st;Described one end of first driving lever 17 passes through the 6th turn Dynamic secondary 16 are connected on base 19, and the other end of the first driving lever 17 rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, large arm 9 The other end rotates secondary 8 and is connected on wrist connecting rod 7 by the 5th;The one end of the fourth link 14 rotates secondary 13 and connects by first It is connected on base 19, the other end of fourth link 14 rotates secondary 15 and is connected with the one end of first connecting rod 12 by second, first connecting rod 12 The other end rotates secondary 11 and is connected with third connecting rod 10 by the 3rd, and the other end of third connecting rod 10 rotates secondary 5 and connects by the 4th On upper arm 4;Rotate second and first electromagnetic locking device 23 is installed on secondary 15;Rotate the tenth and be provided with second on secondary 3 Electromagnetic locking device 24;Servo drive includes the first servomotor, the second servomotor, with the first driving lever 17, second Driving lever 21 connects to drive it to rotate;First locking device 23 and the second locking device 24 are locked using electromagnetic mode, According to different working conditions, tight lock being selected respectively or being opened, pitching of large arm lifting, wrist connecting rod and wrist etc. is completed jointly Motion, realizes the weld job of welding gun 28.

Claims (1)

1. it is a kind of containing the variable freedom linkage novel welding machinery arm for rotating secondary locking device, it is characterised in that to include: Base 19, the second driving lever 21, second connecting rod 2, upper arm 4, wrist connecting rod 7, the first driving lever 17, large arm 9, fourth link 14, First connecting rod 12, wrist 27, welding gun 28, servo drive, third connecting rod 10, the first electromagnetic locking device 23 and the second electromagnetism Locking device 24;The base 19 is arranged on removable revolving dial;Described one end of second driving lever 21 passes through eighth-turn Dynamic secondary 20 are connected on base 19, and the other end of the second driving lever 21 rotates secondary 1 and is connected with the one end of second connecting rod 2 by the 9th, the The other end of two connecting rod 2 rotates secondary 3 and is connected with the one end of upper arm 4 by the tenth, and the other end of upper arm 4 rotates secondary 6 and connects by the 11st To on wrist connecting rod 7;Described one end of first driving lever 17 rotates secondary 16 and is connected on base 19 by the 6th, the first driving lever 17 The other end rotates secondary 18 and is connected with the one end of large arm 9 by the 7th, and the other end of large arm 9 rotates secondary 8 and is connected to wrist company by the 5th On bar 7;The one end of the fourth link 14 rotates pair 13 and is connected on base 19 by first, and the other end of fourth link 14 passes through Second rotates secondary 15 is connected with the one end of first connecting rod 12, and the other end of first connecting rod 12 rotates secondary 11 with third connecting rod 10 by the 3rd Connection, the other end of third connecting rod 10 rotates secondary 5 and is connected on upper arm 4 by the 4th;Rotate second and the is provided with secondary 15 One electromagnetic locking device 23;Rotate the tenth and second electromagnetic locking device 24 is installed on secondary 3;Servo drive includes first Servomotor, the second servomotor, are connected to drive it to rotate with the first driving lever 17, the second driving lever 21;First locking dress Put 23 and second locking device 24 locked using electromagnetic mode.
CN201611062373.7A 2016-11-28 2016-11-28 Novel welding mechanical arm using variable freedom degree connecting rod mechanism and comprising rotation pair locking devices CN106607651A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611062373.7A CN106607651A (en) 2016-11-28 2016-11-28 Novel welding mechanical arm using variable freedom degree connecting rod mechanism and comprising rotation pair locking devices

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611062373.7A CN106607651A (en) 2016-11-28 2016-11-28 Novel welding mechanical arm using variable freedom degree connecting rod mechanism and comprising rotation pair locking devices

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CN106607651A true CN106607651A (en) 2017-05-03

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003103400A (en) * 2001-09-26 2003-04-08 Toshiba Plant Kensetsu Co Ltd Automatic welding head construction
CN203679567U (en) * 2013-12-02 2014-07-02 大连齐车轨道交通装备有限责任公司 Welding special machine suitable for complex position welding
CN204308459U (en) * 2014-12-10 2015-05-06 无锡洲翔成套焊接设备有限公司 Double leval jib swing mechanism
CN104594400A (en) * 2014-12-25 2015-05-06 广西大学 Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function
CN104646881A (en) * 2014-12-23 2015-05-27 广西大学 Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism
CN204545769U (en) * 2015-04-08 2015-08-12 常州铭赛机器人科技股份有限公司 The lever regulated mechanism of soldering tip

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003103400A (en) * 2001-09-26 2003-04-08 Toshiba Plant Kensetsu Co Ltd Automatic welding head construction
CN203679567U (en) * 2013-12-02 2014-07-02 大连齐车轨道交通装备有限责任公司 Welding special machine suitable for complex position welding
CN204308459U (en) * 2014-12-10 2015-05-06 无锡洲翔成套焊接设备有限公司 Double leval jib swing mechanism
CN104646881A (en) * 2014-12-23 2015-05-27 广西大学 Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism
CN104594400A (en) * 2014-12-25 2015-05-06 广西大学 Rotatable multiple-connecting-rod controllable excavating mechanism having metamorphic function
CN204545769U (en) * 2015-04-08 2015-08-12 常州铭赛机器人科技股份有限公司 The lever regulated mechanism of soldering tip

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Application publication date: 20170503