CN106607916A - Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor - Google Patents
Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor Download PDFInfo
- Publication number
- CN106607916A CN106607916A CN201611068698.6A CN201611068698A CN106607916A CN 106607916 A CN106607916 A CN 106607916A CN 201611068698 A CN201611068698 A CN 201611068698A CN 106607916 A CN106607916 A CN 106607916A
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- CN
- China
- Prior art keywords
- connecting rod
- locking device
- large arm
- wrist
- freedom
- 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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to a connecting rod type variable-degree-of-freedom painting mechanical arm driven by a servo motor. The connecting rod type variable-degree-of-freedom painting mechanical arm is characterized by comprising a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, a nozzle 32, a servo driving device, a first locking device 9 and a second locking device 19, wherein 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 by virtue of a seventh revolving pair 13, the servo driving device comprises a first servo motor which is connected with a driving rod 3 so as to drive the first servo motor to rotate, and the first locking device 9 and the second locking device 19 are locked in an electromagnetic mode. According to the connecting rod type variable-degree-of-freedom painting mechanical arm, a novel connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, and the defects of complex hydraulic system, easiness in oil leakage, high machining precision requirement and the like of a hydraulic painting mechanical arm are overcome; the locking devices are installed on revolving pairs, so that the two-degree-of-freedom painting operation can be realized only by using one driving rod, and the use number of motors 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 application work
Industry mechanical arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes painting operation machinery
Extensive application of the arm in painting operation.Painting operation machinery arm has mechanical type and fluid pressure type two types, current painting operation
The mechanical arm great majority of mechanical arm are hydraulic-drivens, are existed as the medium of transmission power using hydraulic oil due to hydraulic drive
Problems with：Its startability is poor, and easily because producing leakage after inner member abrasion, and the hydraulic oil for leaking can pollute ring
Border；Hydraulic oil temperature influence is larger, and aggregate efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheated, powerless in work etc.
Phenomenon；Hydraulic Elements requirement on machining accuracy is high, and matching requirements are strict, and manufacture is more difficult, and maintenance in use requires technology
Higher, difficulty is larger.With the increase of painting operation machinery arm function, its hydraulic system becomes increasingly complex, breaks down more
There are emergentness, disguise.Mechanical type painting operation machinery arm is to realize painting operation action using mechanical transmissioning piece, with firm
Durable the advantages of, but traditional single-degree-of-freedom mechanical type painting operation machinery arm can not complete the action of complexity, range of application
Extremely limited, mechanical type controllable mechanism electronic painting operation machinery arm instead of hydraulic drive with linkage, when driving lever by
When servomotor drives, automatization, NC postprocessing control are easily realized, solve some shortcomings of hydraulic system presence, but existed
Need to be equipped with the controlled motor with linkage degree of freedom equivalent amount to be controlled the mechanism's weight, fortune that complex structure is brought
Big and high cost the problem of dynamic inertia.
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 painting operation machinery arm.
The content of the invention
It is an object of the invention to provide the link-type that a kind of employing servomotor drives can variable freedom coating working machine
Tool arm, overcomes the shortcomings of fluid pressure type painting operation machinery arm hydraulic system element required precision height, complex structure, easy oil leakage, gram
The motor for taking open-chain structure is required for being arranged on the shortcoming of joint position, and causes the quantity of controllable drive motor less than painting
The degree of freedom of industry robot linkage mechanism is pretended, overcomes the electronic painting operation machinery arm structure of existing machinery formula to need to be equipped with and connecting rod
The controlled motor of mechanism freedom equivalent amount simplifies the complexity of structure, the weight of reducing mechanism come the shortcoming being controlled
Amount, movement inertia, volume and cost.For achieving the above object, the invention provides a kind of connecting rod of employing servomotor driving
Formula can variable freedom coating working machine tool arm, including base 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, spray
Mouth 32, servo drive and the first locking device 9 and the second locking device 19：The large arm elevating mechanism is by the He of large arm 14
Elevating mechanism is constituted, and the large arm 14 rotates secondary 13 and is connected on base 1 by the 7th, the fourth link 16 of the elevating mechanism
It is connected on base 1 by eighth-turn dynamic secondary 15, the other end rotates secondary 18 and is connected with the 5th connecting rod 20 by the 9th, the 5th connecting rod
20 other ends rotate secondary 21 and are connected with large arm 14 by the tenth；The wrist connecting rod luffing mechanism is by wrist connecting rod 12 and pitching machine
Structure is constituted, and the wrist connecting rod 12 rotates secondary 22 and is connected in large arm 14 by the 11st, the luffing mechanism by driving lever 3,
First connecting rod 5, second connecting rod 7, third connecting rod 8 are constituted, and the one end of driving lever 3 rotates secondary 2 and is connected on base 1, separately by first
One end rotates secondary 4 and is connected with first connecting rod 5 by second, and the another two ends of first connecting rod 5 rotate secondary 6 and the 4th and rotate secondary by the 3rd
17 are connected on second connecting rod 7 and third connecting rod 8, and second connecting rod 7 rotates secondary 11 and is connected on wrist connecting rod 12 by the 5th, the
The other end of three connecting rod 8 rotates secondary 10 and is connected with wrist connecting rod 12 by the 6th, and another connection end of wrist connecting rod passes through the 11st
Rotate secondary 22 to be connected with large arm 14；The locking device 19 of first locking device 9 and second is separately mounted to the 6th rotation secondary 10
Rotate on secondary 18 with the 9th, locked in good time according to the different operating mode of painting operation machinery arm structure；Servo drive includes
First servomotor, is connected to drive it to rotate with driving lever 3；First locking device 9 and the second locking device 19 adopt electromagnetism
Mode is locked.
A kind of servomotor drive link formula of the present invention can variable freedom coating working machine tool arm adopt controllable many bar closed chains
Mechanism, the motor for overcoming open-chain structure is required for being arranged on the shortcoming of joint position, improves the steady of arm operation
Property and reliability, 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
Specific rotation is secondary with loosening, and the degree of freedom of mechanism is reduced in good time, realizes in the case where expected requirement is completed, and uses
The quantity of controllable drive motor is capable of achieving two less than the degree of freedom of painting operation machinery arm link mechanism using a driving lever
Degree of freedom painting operation operation, overcomes existing painting operation machinery arm to need to be equipped with the control with linkage degree of freedom equivalent amount
Motor processed simplifies the complexity of structure the shortcoming that is controlled, the weight of reducing mechanism, movement inertia, volume and cost,
The controllability and stability of mechanism is increased, work efficiency is improve.Fluid pressure type painting operation machinery arm liquid is also overcomed simultaneously
Pressure 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 that the link-type that a kind of employing servomotor of the present invention drives can variable freedom coating working machine tool arm
Structural representation.
Specific embodiment
The link-type that a kind of employing servomotor drives can variable freedom coating working machine tool arm, including base 1, large arm liter
Descending mechanism, wrist connecting rod luffing mechanism, wrist 31, nozzle 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 by large arm 14 and elevating mechanism group
Into the large arm 14 rotates secondary 13 and is connected on base 1 by the 7th, and the fourth link 16 of the elevating mechanism passes through eighth-turn
Dynamic secondary 15 are connected on base 1, and the other end rotates secondary 18 and is connected with the 5th connecting rod 20 by the 9th, and the other end of the 5th connecting rod 20 leads to
Cross the tenth rotation secondary 21 to be connected with large arm 14；The wrist connecting rod luffing mechanism is made up of wrist connecting rod 12 and luffing mechanism, institute
State wrist connecting rod 12 and rotate secondary 22 by the 11st and be connected in large arm 14, the luffing mechanism by driving lever 3, first connecting rod 5,
Second connecting rod 7, third connecting rod 8 are constituted, and the one end of driving lever 3 rotates secondary 2 and is connected on base 1 by first, and the other end is by the
Two rotate secondary 4 is connected with first connecting rod 5, and the another two ends of first connecting rod 5 rotate secondary 6 and the 4th and rotate pair 17 and be connected to the by the 3rd
On two connecting rods 7 and third connecting rod 8, second connecting rod 7 rotates secondary 11 and is connected on wrist connecting rod 12 by the 5th, and third connecting rod 8 is another
One end rotates secondary 10 and is connected with wrist connecting rod 12 by the 6th, another connection end of wrist connecting rod by the 11st rotate secondary 22 and
Large arm 14 connects；The locking device 19 of first locking device 9 and second is separately mounted to the 6th rotation secondary 10 and the 9th rotation
On secondary 18, locked in good time according to the different operating mode of painting operation machinery arm structure；Servo drive includes the first servo electricity
Machine, is connected to drive it to rotate with driving lever 3；First locking device 9 and the second locking device 19 are locked using electromagnetic mode
Tightly.
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 under driving link effect around the 7th
Secondary 13 rotate lifting.During wrist connecting rod pitching, locking device 9 is opened, and the degree of affranchising of the 6th kinematic pair 10, locking device 19 is locked
Tightly, the locking of the 9th kinematic pair 18 loses degree of freedom, and the respect thereto 1 of large arm 14 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
In individual painting operation operation process, the first locking device 9 and the second locking device 19 are according to different working conditions, in good time lock
Tightly, open, complete painting operation operation.
Claims (1)
1. the link-type that a kind of employing servomotor drives can variable freedom coating working machine tool arm, it is characterised in that include：Bottom
Seat 1, large arm elevating mechanism, wrist connecting rod luffing mechanism, wrist 31, nozzle 32, servo drive and the first locking device 9
With the second locking device 19；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism is by the He of large arm 14
Elevating mechanism is constituted, and the large arm 14 rotates secondary 13 and is connected on base 1 by the 7th, the fourth link 16 of the elevating mechanism
It is connected on base 1 by eighth-turn dynamic secondary 15, the other end rotates secondary 18 and is connected with the 5th connecting rod 20 by the 9th, the 5th connecting rod
20 other ends rotate secondary 21 and are connected with large arm 14 by the tenth；The wrist connecting rod luffing mechanism is by wrist connecting rod 12 and pitching machine
Structure is constituted, and the wrist connecting rod 12 rotates secondary 22 and is connected in large arm 14 by the 11st, the luffing mechanism by driving lever 3,
First connecting rod 5, second connecting rod 7, third connecting rod 8 are constituted, and the one end of driving lever 3 rotates secondary 2 and is connected on base 1, separately by first
One end rotates secondary 4 and is connected with first connecting rod 5 by second, and the another two ends of first connecting rod 5 rotate secondary 6 and the 4th and rotate secondary by the 3rd
17 are connected on second connecting rod 7 and third connecting rod 8, and second connecting rod 7 rotates secondary 11 and is connected on wrist connecting rod 12 by the 5th, the
The other end of three connecting rod 8 rotates secondary 10 and is connected with wrist connecting rod 12 by the 6th, and another connection end of wrist connecting rod passes through the 11st
Rotate secondary 22 to be connected with large arm 14；The locking device 19 of first locking device 9 and second is separately mounted to the 6th rotation secondary 10
Rotate on secondary 18 with the 9th, locked in good time according to the different operating mode of painting operation machinery arm structure；Servo drive includes
First servomotor, is connected to drive it to rotate with driving lever 3；First locking device 9 and the second locking device 19 adopt electromagnetism
Mode is locked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068698.6A CN106607916A (en) | 2016-11-29 | 2016-11-29 | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068698.6A CN106607916A (en) | 2016-11-29 | 2016-11-29 | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106607916A true CN106607916A (en) | 2017-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611068698.6A Pending CN106607916A (en) | 2016-11-29 | 2016-11-29 | Connecting rod type variable-degree-of-freedom painting mechanical arm driven by servo motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106607916A (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 |
| CN107649319A (en) * | 2017-11-01 | 2018-02-02 | 宁波德科自动门科技有限公司 | A kind of easy to operate uniform paint-spray robot |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic function |
-
2016
- 2016-11-29 CN CN201611068698.6A patent/CN106607916A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104047314A (en) * | 2014-06-27 | 2014-09-17 | 广西大学 | Controllable mechanism type loading machine with active metamorphic 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 |
| CN107649319A (en) * | 2017-11-01 | 2018-02-02 | 宁波德科自动门科技有限公司 | A kind of easy to operate uniform paint-spray robot |
| CN107649319B (en) * | 2017-11-01 | 2019-05-24 | 宁波德科自动门科技有限公司 | A kind of easy to operate uniform paint-spray robot |
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Application publication date: 20170503 |
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| WD01 | Invention patent application deemed withdrawn after publication |