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 PDFInfo
- 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
Links
- 238000003466 welding Methods 0.000 title claims abstract description 20
- 210000000707 Wrist Anatomy 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 239000003921 oils Substances 0.000 abstract description 3
- 230000001174 ascending Effects 0.000 abstract 1
- 238000009713 electroplating Methods 0.000 description 12
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000012530 fluid Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000001186 cumulative Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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
- 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
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
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.
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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607651A true CN106607651A (en) | 2017-05-03 |
Family
ID=58635924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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 |
Country Status (1)
| Country | Link |
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| CN (1) | CN106607651A (en) |
Citations (6)
| 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 |
-
2016
- 2016-11-28 CN CN201611062373.7A patent/CN106607651A/en not_active Application Discontinuation
Patent Citations (6)
| 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 |