CN106607657A - Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor - Google Patents
Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor Download PDFInfo
- Publication number
- CN106607657A CN106607657A CN201611063036.XA CN201611063036A CN106607657A CN 106607657 A CN106607657 A CN 106607657A CN 201611063036 A CN201611063036 A CN 201611063036A CN 106607657 A CN106607657 A CN 106607657A
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- Prior art keywords
- connecting rod
- large arm
- locking device
- wrist
- freedom
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Classifications
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- 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
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses a connecting rod type variable-freedom-degree welding mechanical arm driven by a servo motor. The connecting rod type variable-freedom-degree welding mechanical arm is characterized by comprising a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, a welding gun 32, a servo drive device, a first locking device 9 and a second locking device 19; the large arm lifting mechanism is composed of a large arm 14 and a lifting mechanism; the large arm 14 is connected to the base 1 through a seventh rotation pair 13; the servo drive device comprises the first servo motor which is connected with a drive rod 3 to drive the drive rod 3 to rotate; and the first locking device 9 and the second locking device 19 conduct locking in an electromagnetic manner. According to the connecting rod type variable-freedom-degree welding mechanical arm, a novel connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, the defects that a hydraulic welding mechanical arm hydraulic system is complex, oil leakage is likely to happen, and the requirement for machining precision is high are overcome; and due to the fact that the locking devices are adopted on rotation pairs, one drive rod can be used for achieving welding work of two freedom degrees, and the number of motors for use is reduced.
Description
Technical field
The present invention relates to mechanical field, the link-type that particularly a kind of employing servomotor drives can variable freedom bonding machine
Tool arm.
Background technology
Over the years, as the personnel of labour market are in short supply, human cost is risen year by year, is promoted electroplating equipment wielding machine arm and is existed
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 leakage is produced after inner member abrasion, and the hydraulic oil for leaking pollutes the environment；Hydraulic oil temperature influence
Larger, aggregate efficiency is relatively low, has sometimes noise and vibration.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, instead of hydraulic drive with linkage, when driving lever is driven by servomotor, easily realize 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
Mechanism's weight, movement inertia that complex structure is brought is big and the problem of high cost to be controlled for motor.
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 electroplating equipment wielding machine arm.
The content of the invention
It is an object of the invention to provide a kind of link-type that drives of employing servomotor can variable freedom electroplating equipment wielding machine arm,
Overcome the shortcomings of fluid pressure type electroplating equipment wielding machine arm hydraulic system element required precision height, complex structure, easy oil leakage, overcome open-chain structure
Motor be required for the shortcoming installed in joint position, and cause the quantity of controllable drive motor less than electroplating equipment wielding machine arm company
The degree of freedom of linkage, overcomes the electronic electroplating equipment wielding machine arm structure of existing machinery formula to need to be equipped with and linkage degree of freedom equivalent amount
Controlled motor come the shortcoming that is controlled, simplify the complexity of structure, the weight of reducing mechanism, movement inertia, volume and
Cost.For achieving the above object, the invention provides the link-type that a kind of employing servomotor drives can variable freedom bonding machine
Tool arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, welding gun 32, servo drive and
One locking device 9 and the second locking device 19：The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, the large arm 14
Secondary 13 are rotated by the 7th to be connected on base 1, the fourth link 16 of the elevating mechanism is connected to by eighth-turn dynamic secondary 15
On base 1, the other end is rotated secondary 18 by the 9th and is connected with the 5th connecting rod 20, and 20 other end of the 5th connecting rod rotates secondary by the tenth
21 are connected with large arm 14；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, the wrist connecting rod 12
Secondary 22 are rotated by the 11st to be connected in large arm 14, the luffing mechanism by driving lever 3, first connecting rod 5, second connecting rod 7, the
Three connecting rods 8 are constituted, and 3 one end of driving lever rotates secondary 2 by first and is connected on base 1, and the other end rotates secondary 4 and the by second
One connecting rod 5 connects, and 5 another two ends of first connecting rod rotate pair 6 by the 3rd and the 4th rotation secondary 17 is connected to second connecting rod 7 and the 3rd
On connecting rod 8, second connecting rod 7 rotates secondary 11 by the 5th and is connected on wrist connecting rod 12, and 8 other end of third connecting rod passes through the 6th turn
Dynamic secondary 10 are connected with wrist connecting rod 12, and another connection end of wrist connecting rod is rotated secondary 22 by the 11st and is connected with large arm 14；Institute
State the first locking device 9 and the second locking device 19 is separately mounted to the 6th rotation secondary 10 and the 9th and rotates on secondary 18, according to weldering
Connect the different operating mode of mechanical arm structure to be locked in good time；Servo drive includes the first servomotor, be connected with driving lever 3 with
Drive which to rotate；First locking device 9 and the second locking device 19 are locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom electroplating equipment wielding machine arm 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 electroplating equipment wielding machine arm link mechanism, is capable of achieving two degrees of freedom welding using a driving lever
Operation, overcomes existing electroplating equipment wielding machine arm to need to be equipped with the controlled motor of 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 a kind of link-type that drives of employing servomotor of the present invention can the structure of variable freedom electroplating equipment wielding machine arm show
It is intended to.
Specific embodiment
The link-type that a kind of employing servomotor drives can variable freedom electroplating equipment wielding machine arm, including base 1, large arm elevator
Structure, wrist connecting rod luffing mechanism, wrist 31, welding gun 32, servo drive and the first locking device 9 and the second locking device
19；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism is made up of large arm 14 and elevating mechanism, institute
State large arm 14 to be connected on base 1 by the 7th rotation secondary 13, the fourth link 16 of the elevating mechanism is by the dynamic pair of eighth-turn
15 are connected on base 1, and the other end rotates secondary 18 by the 9th and is connected with the 5th connecting rod 20, and 20 other end of the 5th connecting rod passes through the
Ten rotate secondary 21 is connected with large arm 14；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, the handss
Wrist connecting rod 12 rotates secondary 22 by the 11st and is connected in large arm 14, and the luffing mechanism is by driving lever 3, first connecting rod 5, second
Connecting rod 7, third connecting rod 8 are constituted, and 3 one end of driving lever rotates secondary 2 by first and is connected on base 1, and the other end passes through second turn
Move secondary 4 to be connected with first connecting rod 5,5 another two ends of first connecting rod rotate pair 6 by the 3rd and the 4th rotation secondary 17 is connected to the second company
On bar 7 and third connecting rod 8, second connecting rod 7 rotates secondary 11 by the 5th and is connected on wrist connecting rod 12,8 other end of third connecting rod
Secondary 10 are rotated by the 6th to be connected with wrist connecting rod 12, another connection end of wrist connecting rod rotates secondary 22 and large arm by the 11st
14 connections；First locking device 9 and the second locking device 19 are separately mounted to the 6th rotation secondary 10 and the 9th and rotate secondary 18
On, locked according to the different operating mode of electroplating equipment wielding machine arm structure in good time；Servo drive includes the first servomotor, with active
Bar 3 connects to drive which to rotate；First locking device 9 and the second locking device 19 are locked using electromagnetic mode.
In operating mode operation, when large arm 14 is lifted, the second locking device 19 is opened, and the 9th rotates secondary 18 degree of affranchising,
Locking device 9 is locked, i.e., the 6th kinematic pair 10 is locked, and loses degree of freedom.Now, large arm is rotated around the 7th under driving link effect
Secondary 13 rotate lifting.During wrist connecting rod pitching, locking device 9 is opened, and 10 degree of affranchising of the 6th kinematic pair, locking device 19 are locked
Tightly, the locking of the 9th kinematic pair 18 loses degree of freedom, and 14 respect thereto 1 of large arm loses degree of freedom, now moves under the driving of driving link 3
Power realizes wrist connecting rod pitching with moving across first connecting rod 5, second connecting rod 7 and third connecting rod 8 and passing to wrist connecting rod 12.Whole
During individual weld job, the first locking device 9 and the second locking device 19 according to different working conditions, in good time locking,
Open, complete weld job.
Claims (1)
1. the link-type that a kind of employing servomotor drives can variable freedom electroplating equipment wielding machine arm, it is characterised in that include：Base 1,
Large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, welding gun 32, servo drive and the first locking device 9 and
Two locking devices 19；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism is by large arm 14 and lifting
Mechanism constitutes, and the large arm 14 rotates secondary 13 by the 7th and is connected on base 1, and the fourth link 16 of the elevating mechanism passes through
Eighth-turn dynamic secondary 15 is connected on base 1, and the other end is rotated secondary 18 by the 9th and is connected with the 5th connecting rod 20, and the 5th connecting rod 20 is another
One end is rotated secondary 21 by the tenth and is connected with large arm 14；The wrist connecting rod luffing mechanism is by wrist connecting rod 12 and luffing mechanism group
Into the wrist connecting rod 12 rotates secondary 22 by the 11st and is connected in large arm 14, and the luffing mechanism is by driving lever 3, first
Connecting rod 5, second connecting rod 7, third connecting rod 8 are constituted, and 3 one end of driving lever rotates secondary 2 by first and is connected on base 1, the other end
Secondary 4 are rotated by second to be connected with first connecting rod 5,5 another two ends of first connecting rod pass through the 3rd rotation secondary 6 and the 4th and rotate secondary 17 company
It is connected on second connecting rod 7 and third connecting rod 8, second connecting rod 7 rotates secondary 11 by the 5th and is connected on wrist connecting rod 12, the 3rd connects
8 other end of bar is rotated secondary 10 by the 6th and is connected with wrist connecting rod 12, and another connection end of wrist connecting rod is rotated by the 11st
Secondary 22 are connected with large arm 14；First locking device 9 and the second locking device 19 are separately mounted to the 6th rotation secondary 10 and the
Nine rotate on secondary 18, are locked according to the different operating mode of electroplating equipment wielding machine arm structure in good time；Servo drive includes the first servo
Motor, is connected to drive which to rotate with driving lever 3；First locking device 9 and the second locking device 19 are carried out using electromagnetic mode
Locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063036.XA CN106607657A (en) | 2016-11-28 | 2016-11-28 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063036.XA CN106607657A (en) | 2016-11-28 | 2016-11-28 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607657A true CN106607657A (en) | 2017-05-03 |
Family
ID=58636430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611063036.XA Pending CN106607657A (en) | 2016-11-28 | 2016-11-28 | Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor |
Country Status (1)
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|---|---|
| CN (1) | CN106607657A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759568A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives variable active degree linkage using servomotor |
| 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 |
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| JP2001079787A (en) * | 1999-09-08 | 2001-03-27 | Agency Of Ind Science & Technol | Four-leg type robot and control method for high motion gait |
| JP2006224202A (en) * | 2005-02-15 | 2006-08-31 | Uchida Yoko Co Ltd | Falling prevention device of movable body, method to support movable body and program |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103787207A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Closed chain type hybrid-driving front-surface lifting crane |
| CN104294868A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Multi-freedom-degree controllable loading mechanism with active metamorphic function |
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
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2016
- 2016-11-28 CN CN201611063036.XA patent/CN106607657A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001079787A (en) * | 1999-09-08 | 2001-03-27 | Agency Of Ind Science & Technol | Four-leg type robot and control method for high motion gait |
| JP2006224202A (en) * | 2005-02-15 | 2006-08-31 | Uchida Yoko Co Ltd | Falling prevention device of movable body, method to support movable body and program |
| CN103009384A (en) * | 2012-12-27 | 2013-04-03 | 广西大学 | Controllable stacking robot |
| CN103787207A (en) * | 2014-02-27 | 2014-05-14 | 钦州学院 | Closed chain type hybrid-driving front-surface lifting crane |
| CN104294868A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Multi-freedom-degree controllable loading mechanism with active metamorphic function |
| CN104612191A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | MDOF movable loading mechanism with initiative metamorphism function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106759568A (en) * | 2016-11-30 | 2017-05-31 | 广西大学 | One kind drives variable active degree linkage using servomotor |
| 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 |
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Application publication date: 20170503 |
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