CN106607653A - Variable degree-of-freedom multilink welding machine driven by servo motor - Google Patents

Variable degree-of-freedom multilink welding machine driven by servo motor Download PDF

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Publication number
CN106607653A
CN106607653A CN201611062463.6A CN201611062463A CN106607653A CN 106607653 A CN106607653 A CN 106607653A CN 201611062463 A CN201611062463 A CN 201611062463A CN 106607653 A CN106607653 A CN 106607653A
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CN
China
Prior art keywords
rod
locking
arm
freedom
wrist
Prior art date
Application number
CN201611062463.6A
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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.)
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Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN201611062463.6A priority Critical patent/CN106607653A/en
Publication of CN106607653A publication Critical patent/CN106607653A/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
    • B23K37/0247Driving means
    • 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
    • B23K37/0252Steering means

Abstract

The invention discloses a variable degree-of-freedom multilink welding machine driven by a servo motor. The variable degree-of-freedom multilink welding machine comprises a base 1, a big arm lifting mechanism, a wrist link pitch mechanism, a wrist 27, a welding gun 28, a servo driving device, a first locking device 5 and a second locking device 18, wherein the big arm lifting mechanism consists of a big arm 9 and a lifting mechanism; the wrist link pitch mechanism consists of a wrist link 22 and a pitch mechanism; the first locking device 5 and the second locking device 18 are separately arranged on a third revolute pair 6 and a seventh revolute pair 17, and are locked in due time according to different working conditions; the servo driving device comprises a first servo motor which is connected with a first driving rod 14, so that the first servo motor is driven to rotate; and the first locking device 5 and the second locking device 18 are locked by adopting an electromagnetic mode. According to the variable degree-of-freedom multilink welding machine disclosed by the invention, the defects that a hydraulic system of a hydraulic machine is complex, is high in requirement on processing precision and easily leaks oil are overcome; the locking devices are adopted for the revolute pairs to realize the two-degree-of-freedom operation; and the amount of the used servo drive motors is smaller than the degree-of-freedom of a link mechanism of a welding mechanism arm.

Description

A kind of servomotor drives can variable freedom multi link electroplating equipment wielding machine
Technical field
The present invention relates to mechanical field, particularly a kind of servomotor drives can variable freedom multi link 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 servomotor drive can variable freedom multi link electroplating equipment wielding machine arm, overcome liquid The shortcomings of pressure type electroplating equipment wielding machine arm hydraulic system element required precision height, complex structure, easy oil leakage, overcome the driving of open-chain structure Motor is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor to be less than electroplating equipment wielding machine arm link mechanism Degree of freedom, overcome the electronic electroplating equipment wielding machine arm structure of existing machinery formula to need to be equipped with the control with linkage degree of freedom equivalent amount Motor simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost.For Realize above-mentioned purpose, the invention provides a kind of servomotor drive can variable freedom multi link electroplating equipment wielding machine arm, including base 1st, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, welding gun 28, servo drive and the and of the first locking device 5 Second locking device 18;The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 rotates secondary 4 by the tenth It is connected in frame 1, one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected on base 1 by second, the other end Secondary 6 are rotated by the 3rd to be connected with the 5th connecting rod 7, the other end of the 5th connecting rod 7 rotates secondary 8 and is connected with large arm 9 by the 4th;It is described Wrist connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, and the wrist connecting rod 22 rotates secondary 12 and connects by the 12nd It is connected in large arm 9, the luffing mechanism is made up of driving lever 14, first connecting rod 16, third connecting rod 10 and second connecting rod 20, actively The one end of bar 14 rotates secondary 13 and is connected on base 1 by first, and the other end rotates secondary 15 and is connected with first connecting rod 16 by the 5th; The one end of first connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and the other end of first connecting rod 16 is rotated by the 6th Secondary 19 are connected on second connecting rod 20;The other end of third connecting rod 10 is connected in large arm 9 by eighth-turn dynamic secondary 11, second connecting rod 20 other ends rotate secondary 21 and are connected with wrist connecting rod 22 by the 9th;18 points of first locking device, 5 and second locking device The 3rd An Zhuan not rotate secondary 6 and the 7th and rotate on secondary 17, be locked in good time according to different operating modes;Servo drive bag The first servomotor is included, is connected to drive it to rotate with the first driving lever 14;The locking dress of first locking device 5 and second Put 18 to be locked using electromagnetic mode..
A kind of servomotor of the present invention drive can variable freedom multi link electroplating equipment wielding machine arm adopt controllable many bar closed chain mechanisms, Overcome open-chain structure motor be required for be arranged on joint position shortcoming, improve arm operation stationarity and can By property, without cumulative error, precision is higher;Compact conformation, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good, arm fortune Dynamic rail mark flexible and diverse.Install locking device additional on linkage, and allow it 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, realize in the case where expected requirement is completed, the controllable drive for using The quantity of galvanic electricity machine is capable of achieving two degrees of freedom welding less than the degree of freedom of electroplating equipment wielding machine arm link mechanism using a driving lever Operation, overcomes existing electroplating equipment wielding machine arm to need to be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled Shortcoming, simplifies the complexity of structure, and the weight of reducing mechanism, movement inertia, volume and cost increased the controllability of mechanism And stability, improve work efficiency.Fluid pressure type electroplating equipment wielding machine arm hydraulic system element required precision height, knot are also overcomed simultaneously Structure complexity, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Description of the drawings
Fig. 1 be it is of the present invention with a kind of servomotor drive can variable freedom multi link electroplating equipment wielding machine arm structure Schematic diagram.
Specific embodiment
It is of the present invention with a kind of servomotor drive can variable freedom multi link electroplating equipment wielding machine arm, including base 1, Large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 27, welding gun 28, servo drive and the first locking device 5 and Two locking devices 18;The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 rotates secondary 4 and connects by the tenth It is connected in frame 1, one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected on base 1 by second, and the other end leads to Cross the 3rd rotation secondary 6 to be connected with the 5th connecting rod 7, the other end of the 5th connecting rod 7 rotates secondary 8 and is connected with large arm 9 by the 4th;The handss Wrist connecting rod luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, and the wrist connecting rod 22 rotates secondary 12 and connects by the 12nd To in large arm 9, the luffing mechanism is made up of driving lever 14, first connecting rod 16, third connecting rod 10 and second connecting rod 20, driving lever 14 one end rotate secondary 13 and are connected on base 1 by first, and the other end rotates secondary 15 and is connected with first connecting rod 16 by the 5th;The The one end of one connecting rod 16 rotates secondary 17 and is connected on third connecting rod 10 by the 7th, and the other end of first connecting rod 16 rotates secondary by the 6th 19 are connected on second connecting rod 20;The other end of third connecting rod 10 is connected in large arm 9 by eighth-turn dynamic secondary 11, second connecting rod 20 The other end rotates secondary 21 and is connected with wrist connecting rod 22 by the 9th;The locking device 18 of first locking device 5 and second is distinguished Secondary 6 and the 7th are rotated installed in the 3rd to rotate on secondary 17, locked in good time according to different operating modes;Servo drive includes First servomotor, is connected to drive it to rotate with the first driving lever 14;The locking device of first locking device 5 and second 18 are locked using electromagnetic mode.
Operation principle and process:In operation, when large arm 9 is lifted, the first locking device 5 is opened, and the 3rd rotates secondary 6 recovers Degree of freedom, the second locking device 18 is locked, and the 7th rotates secondary 17 loses degree of freedom, now large arm 9 under the effect of driving lever 14 around Tenth rotates secondary 4 rotates lifting.During wrist connecting rod pitching, the second locking device 18 is opened, the degree of affranchising of the 7th kinematic pair 17, First locking device 5 is locked, and the locking of the 3rd kinematic pair 6 loses degree of freedom, and the respect thereto 1 of large arm 9 loses degree of freedom, now leading Under lever 14 drives, move across first connecting rod 16, third connecting rod 10 and second connecting rod 20 and pass to wrist connecting rod 22 and realize wrist Connecting rod pitching.In whole operation process, the first locking device 5 and the second locking device 18 divide according to different working conditions Xuan Ze not tightly lock or open, the motions such as large arm lifting and flexible, wrist connecting rod 22 and the pitching of wrist 27 are completed jointly, realize weldering The weld job of rifle 28.First locking device 5 and the second locking device 18 can be locked using electromagnetic mode, and control is easily real It is existing.
The invention enables the quantity of controllable drive motor overcomes existing weldering less than the degree of freedom of electroplating equipment wielding machine arm link mechanism The shortcoming that mechanical arm needs to be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled is connect, simplifies structure Complexity, the weight of reducing mechanism, movement inertia, volume and cost, the electroplating equipment wielding machine arm of the present invention does each connecting rod rod member Into lighter bar, so that whole mechanism kinematic inertia is little, dynamic performance is good, it is easy to control, and by arranging revolving dial, makes weldering The revolution work space that mechanical arm possesses 360 degree is connect, Work Space Range is big.

Claims (1)

1. drive can variable freedom multi link electroplating equipment wielding machine arm for a kind of servomotor, it is characterised in that include:Base 1, large arm liter Descending mechanism, wrist connecting rod luffing mechanism, wrist 27, welding gun 28, servo drive and the first locking device 5 and the second locking Device 18;The large arm elevating mechanism is made up of large arm 9 and elevating mechanism, and the large arm 9 rotates secondary 4 and is connected to machine by the tenth On frame 1, one end of fourth link 3 of the elevating mechanism rotates secondary 2 and is connected on base 1 by second, and the other end passes through the 3rd Rotate secondary 6 to be connected with the 5th connecting rod 7, the other end of the 5th connecting rod 7 rotates secondary 8 and is connected with large arm 9 by the 4th;The wrist connecting rod Luffing mechanism is made up of wrist connecting rod 22 and luffing mechanism, and the wrist connecting rod 22 rotates secondary 12 and is connected to large arm by the 12nd On 9, the luffing mechanism is made up of driving lever 14, first connecting rod 16, third connecting rod 10 and second connecting rod 20, the one end of driving lever 14 Secondary 13 are rotated by first to be connected on base 1, the other end rotates secondary 15 and is connected with first connecting rod 16 by the 5th;First connecting rod 16 one end rotate secondary 17 and are connected on third connecting rod 10 by the 7th, and the other end of first connecting rod 16 rotates secondary 19 and connects by the 6th To on second connecting rod 20;The other end of third connecting rod 10 is connected in large arm 9 by eighth-turn dynamic secondary 11, the other end of second connecting rod 20 Secondary 21 are rotated by the 9th to be connected with wrist connecting rod 22;The locking device 18 of first locking device 5 and second is separately mounted to 3rd rotates secondary 6 and the 7th rotates on secondary 17, is locked in good time according to different operating modes;Servo drive is watched including first Motor is taken, is connected to drive it to rotate with the first driving lever 14;The locking device 18 of first locking device 5 and second is adopted Electromagnetic mode is locked.
CN201611062463.6A 2016-11-28 2016-11-28 Variable degree-of-freedom multilink welding machine driven by servo motor CN106607653A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611062463.6A CN106607653A (en) 2016-11-28 2016-11-28 Variable degree-of-freedom multilink welding machine driven by servo motor

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Application Number Priority Date Filing Date Title
CN201611062463.6A CN106607653A (en) 2016-11-28 2016-11-28 Variable degree-of-freedom multilink welding machine driven by servo motor

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106826913A (en) * 2016-11-30 2017-06-13 广西大学 One kind drives variable active degree multi-connecting-rod mechanism using servomotor

Citations (7)

* 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
CN104047309A (en) * 2014-06-27 2014-09-17 广西大学 Controllable multi-connecting-rod loading machine with active metamorphic function
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
CN104612189A (en) * 2014-12-25 2015-05-13 广西大学 Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing 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 (7)

* 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
CN104047309A (en) * 2014-06-27 2014-09-17 广西大学 Controllable multi-connecting-rod loading machine with active metamorphic function
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
CN104612189A (en) * 2014-12-25 2015-05-13 广西大学 Rotatable type multi-freedom-degree controllable excavating mechanism with active cell changing 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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106826913A (en) * 2016-11-30 2017-06-13 广西大学 One kind drives variable active degree multi-connecting-rod mechanism using servomotor

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