CN106607870A - A novel movable two-range-of-motion gas cutting blanking machine - Google Patents
A novel movable two-range-of-motion gas cutting blanking machine Download PDFInfo
- Publication number
- CN106607870A CN106607870A CN201611114942.8A CN201611114942A CN106607870A CN 106607870 A CN106607870 A CN 106607870A CN 201611114942 A CN201611114942 A CN 201611114942A CN 106607870 A CN106607870 A CN 106607870A
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- CN
- China
- Prior art keywords
- connecting rod
- rod
- driving lever
- clamper
- driving
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Arc Welding In General (AREA)
Abstract
The invention provides a novel movable two-range-of-motion gas cutting blanking machine comprising a pedestal 1, a big arm 18, a first driving rod 3, a first connecting rod 5, a first connecting rod 7, a second driving rod 14, a second connecting rod 12, a second connecting rod 10, a clamp connecting rod 9, a cutting gun 22, a clamp 21 and a drive device. One end of the big arm 18 is connected with the pedestal 1 via a first rotating pair; the second connecting rod 12 is connected with the second connecting rod 10 via an eighth rotating pair 11; one end of the second connecting rod 10 is connected with the big arm 18 via a ninth rotating pair 17 and the other end is connected with the clamp connecting rod 9 via a tenth rotating pair 20; the clamp connecting rod 9 is connected with the first connecting rod 7 via an eleventh rotating pair 8; the drive device comprises a first servo motor and a second servo motor which are connected with the first driving rod 3 and the second driving rod 14 respectively to drive the first driving rod 3 and the second driving rod 14. The novel movable two-range-of-motion gas cutting blanking machine solves the problem of poor reliability and high maintenance cost of conventional hydraulic gas cutting blanking mechanisms.
Description
Technical field
The present invention relates to mechanical field, the particularly a kind of new oxygen-acetylene cutting machine of removable two mobilities.
Background technology
The general oxygen-acetylene cutting machine great majority of currently manufactured industry are the cascaded structure joint type motor drive machinery hands for open form,
It is mainly characterized in that motor is all arranged on each joint of manipulator, by each joint of motor driving mechanical hand
Rotation, realize the various actions of manipulator.Because the motor of the cascaded structure articulated robot of open form is all pacified
The position in joint is mounted in, this frame mode has problems with：Manipulator arm needs the weight for carrying motor and needs to meet
Rigidity requirement, arm sectional dimension needs to be made larger, can so increase the load of motor, and the motion for increasing arm is used to
Amount, causes manipulator dynamic property to decline, at the same motor all installed in joint position cause the accumulated error of manipulator it is big,
Bearing capacity is little, complex structure, the degree of modularity are low.With the development and the raising of control technology of motor technology, parallel institution
Extensive development space is provided for manipulator, the multiple freedom parallel mechanism driven by controlled motor not only has working space
Greatly, flexible movements, can complete complexity movement locus output, while also having the advantages that low cost of manufacture, maintaining are simple.
The content of the invention
It is an object of the invention to provide a kind of new oxygen-acetylene cutting machine of removable two mobilities, so as to overcome serial mechanism
Accumulated error is big, and precision is relatively low；Rigidity is low, the little shortcoming of bearing capacity.For achieving the above object, the technology that the present invention is provided
Scheme is：One kind new oxygen-acetylene cutting machine of removable two mobilities, including base 1, large arm 18, the first driving lever 3, first connecting rod
5th, head rod 7, the second driving lever 14, second connecting rod 12, the second connecting rod 10, clamper connecting rod 9, burning torch 22, clamper
21st, driving means；The one end of the large arm 18 rotates secondary 19 and is connected with base 1 by first, and the other end rotates secondary 16 by second
It is connected with head rod 7, described one end of first driving lever 3 rotates secondary 2 and is connected with base 1 by the 3rd, the other end passes through the
Four rotate secondary 4 is connected with first connecting rod 5, and first connecting rod 5 rotates secondary 6 and is connected with head rod 7 by the 5th.Second master
The one end of lever 14 rotates secondary 15 and is connected with base 1 by the 6th, and the other end rotates secondary 13 and is connected with second connecting rod 12 by the 7th,
The second connecting rod 12 is connected by eighth-turn dynamic secondary 11 with the second connecting rod 10, and described one end of second connecting rod 10 passes through the 9th
Rotate secondary 17 to be connected with large arm 18, the other end rotates secondary 20 and is connected with clamper connecting rod 9 by the tenth, the clamper connecting rod 9
Secondary 8 are rotated by the 11st to be connected with head rod 7；Driving means are made up of the first servomotor, the second servomotor, point
It is not connected with the first driving lever 3, the second driving lever 14, the first driving lever 3, the second driving lever 14 is driven.
A kind of new oxygen-acetylene cutting machine of removable two mobilities of the invention adopts controllable many bar closed chain mechanisms, with open-chain structure
Compare, improve the stationarity and reliability of arm operation, without accumulated error, precision is higher；Compact conformation, rigidity is high, carries
Ability is big, inertia is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type oxygen-acetylene cutting machine hydraulic pressure system
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 a kind of new oxygen-acetylene cutting machine schematic diagram of removable two mobilities of the present invention.
Specific embodiment
One kind new oxygen-acetylene cutting machine of removable two mobilities, by base 1, large arm 18, the first driving lever 3, first connecting rod
5th, head rod 7, the second driving lever 14, second connecting rod 12, the second connecting rod 10, clamper connecting rod 9, burning torch 22, clamper
21st, driving means composition；The one end of the large arm 18 rotates secondary 19 and is connected with base 1 by first, and the other end is rotated by second
Secondary 16 are connected with head rod 7, and described one end of first driving lever 3 rotates secondary 2 and is connected with base 1 by the 3rd, and the other end leads to
Cross the 4th rotation secondary 4 to be connected with first connecting rod 5, first connecting rod 5 rotates secondary 6 and is connected with head rod 7 by the 5th.Described
The one end of two driving lever 14 rotates secondary 15 and is connected with base 1 by the 6th, and the other end rotates secondary 13 with second connecting rod 12 by the 7th
Connection, the second connecting rod 12 is connected by eighth-turn dynamic secondary 11 with the second connecting rod 10, and described one end of second connecting rod 10 leads to
Cross the 9th rotation secondary 17 to be connected with large arm 18, the other end rotates secondary 20 and is connected with clamper connecting rod 9 by the tenth, the clamper
Connecting rod 9 rotates secondary 8 and is connected with head rod 7 by the 11st；Driving means are by the first servomotor, the second servomotor group
Into, it is connected with the first driving lever 3, the second driving lever 14 respectively, the first driving lever 3, the second driving lever 14 are driven.
The large arm 18, the first driving lever 3, first connecting rod 5, the composition large arm control subchain of head rod 7, by first
The drive control of driving lever 3, completes lifting or the down maneuver of large arm 18, second driving lever 14, second connecting rod 12,
Two connecting rods 10, the composition clamper connecting rod control subchain of clamper connecting rod 9, by the drive control of the second driving lever 14, complete
The pitching operation of clamper connecting rod 9, requires according to actual job, controls subchain by large arm and clamper connecting rod controls subchain
Cooperate, the lifting of large arm 16 is completed jointly, is declined, burning torch 22 is realized in the motion such as clamper connecting rod 7, the pitching of clamper 21
Blanking operation.
A kind of new oxygen-acetylene cutting machine of removable two mobilities of the invention adopts controllable many bar closed chain mechanisms, with open-chain structure
Compare, improve the stationarity and reliability of arm operation, without accumulated error, precision is higher；Compact conformation, rigidity is high, carries
Ability is big, inertia is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type oxygen-acetylene cutting machine hydraulic pressure system
System components accuracy have high demands, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
The present invention is arranged on controllable drive motor on revolving dial, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod member is made lighter bar by weight, volume and cost, the arm of the present invention, so that whole mechanism kinematic inertia is little,
Dynamic performance is good, it is easy to control, and by arranging revolving dial, makes the revolution working space that arm possesses 360 degree, working space
Scope is big.
Claims (1)
1. a kind of removable new oxygen-acetylene cutting machine of two mobilities, by base 1, large arm 18, the first driving lever 3, first connecting rod 5,
Head rod 7, the second driving lever 14, second connecting rod 12, the second connecting rod 10, clamper connecting rod 9, burning torch 22, clamper 21,
Driving means are constituted；The one end of the large arm 18 rotates secondary 19 and is connected with base 1 by first, and the other end rotates secondary 16 by second
It is connected with head rod 7, described one end of first driving lever 3 rotates secondary 2 and is connected with base 1 by the 3rd, the other end passes through the
Four rotate secondary 4 is connected with first connecting rod 5, and first connecting rod 5 rotates secondary 6 and is connected with head rod 7 by the 5th, second master
The one end of lever 14 rotates secondary 15 and is connected with base 1 by the 6th, and the other end rotates secondary 13 and is connected with second connecting rod 12 by the 7th,
The second connecting rod 12 is connected by eighth-turn dynamic secondary 11 with the second connecting rod 10, and described one end of second connecting rod 10 passes through the 9th
Rotate secondary 17 to be connected with large arm 18, the other end rotates secondary 20 and is connected with clamper connecting rod 9 by the tenth, the clamper connecting rod 9
Secondary 8 are rotated by the 11st to be connected with head rod 7；Driving means are made up of the first servomotor, the second servomotor, point
It is not connected with the first driving lever 3, the second driving lever 14, the first driving lever 3, the second driving lever 14 is driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114942.8A CN106607870A (en) | 2016-12-07 | 2016-12-07 | A novel movable two-range-of-motion gas cutting blanking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114942.8A CN106607870A (en) | 2016-12-07 | 2016-12-07 | A novel movable two-range-of-motion gas cutting blanking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607870A true CN106607870A (en) | 2017-05-03 |
Family
ID=58636546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611114942.8A Pending CN106607870A (en) | 2016-12-07 | 2016-12-07 | A novel movable two-range-of-motion gas cutting blanking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607870A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003220590A (en) * | 2002-01-30 | 2003-08-05 | Nachi Fujikoshi Corp | Industrial robot |
| CN103726529A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | High-rigidity nine-link controllable mechanical loading mechanism |
| CN103726527A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom novel mechanical loading mechanism |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
-
2016
- 2016-12-07 CN CN201611114942.8A patent/CN106607870A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003220590A (en) * | 2002-01-30 | 2003-08-05 | Nachi Fujikoshi Corp | Industrial robot |
| CN103741731A (en) * | 2013-12-07 | 2014-04-23 | 广西大学 | Mine power-driven excavator with plane controllable mechanism |
| CN103726529A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | High-rigidity nine-link controllable mechanical loading mechanism |
| CN103726527A (en) * | 2013-12-16 | 2014-04-16 | 广西大学 | Nine-bar two-degree-of-freedom novel mechanical loading mechanism |
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Application publication date: 20170503 |
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