CN106695060A - Multi-rod two-motion-range closed chain connecting rod mechanism mechanical arm for oxygen-acetylene cutting operation - Google Patents
Multi-rod two-motion-range closed chain connecting rod mechanism mechanical arm for oxygen-acetylene cutting operation Download PDFInfo
- Publication number
- CN106695060A CN106695060A CN201611130563.8A CN201611130563A CN106695060A CN 106695060 A CN106695060 A CN 106695060A CN 201611130563 A CN201611130563 A CN 201611130563A CN 106695060 A CN106695060 A CN 106695060A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- rod
- hinged
- driving lever
- 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
- 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
Abstract
The invention relates to a multi-rod two-motion-range closed chain connecting rod mechanism mechanical arm for oxygen-acetylene cutting operation. The multi-rod two-motion-range closed chain connecting rod mechanism mechanical arm is characterized by comprising a rotary base, a stretchable mechanism, a pitching mechanism, a driving device, a wrist and a cutting gun. The stretchable mechanism comprises a first driving rod, a second driving rod, a movable arm, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein one end of the first driving rod and one end of the second driving rod are hinged to the rotary base, one end of the movable arm is hinged to the other end of the first driving rod, one end of the second connecting rod is hinged to the other end of the second driving rod, one end of the third connecting rod is hinged to a rod arm of the first driving rod, and one end of the fourth connecting rod is hinged to the other end of the third connecting rod; and the driving device is composed of two servo motors which are connected with the first driving rod and the second driving rod to correspondingly drive the first driving rod and the second driving rod to rotate. In this way, the defects that a series connection mechanical arm is large in accumulation error, low in accuracy, high in severity and small in bearing force are overcome.
Description
Technical field
It is more particularly to a kind of to be used for many mobility closed chain connecting rod machines of bar two of oxygen-acetylene cutting operation the present invention relates to mechanical field
Structure mechanical arm.
Background technology
Most of currently manufactured industry oxygen-acetylene cutting manipulator is for the cascaded structure joint type motor of open form drives
Dynamic manipulator, it is mainly characterized in that motor is all arranged on each joint of manipulator, by motor driving mechanical
The rotation in each joint of hand, realizes the various actions of manipulator, and this frame mode has problems with：Manipulator arm needs
The weight for carrying motor simultaneously need to meet rigidity requirement, and arm sectional dimension needs to be made larger, can so increase motor
Load, increases the movement inertia of arm, causes manipulator dynamic property to decline, while motor is all made installed in joint position
Into manipulator accumulated error it is big, bearing capacity is small, complex structure, the degree of modularity are low.With the development and control of motor technology
The raising of technology processed, parallel institution extensive development space for manipulator is provided.Because the quantity of mechanism driving-motor is equal to
The free degree of manipulator mechanism is that manipulator turns into the necessary condition for having and determining motion, to make the motor of manipulator
Quantity be equal to the free degree of manipulator mechanism, the weight that will result in mechanism is big, volume is big and high cost.Due to manipulator
How much the free degree determines the degree of flexibility of robot movement, it is impossible to the weight of manipulator is reduced using the method for reducing the free degree
Amount, movement inertia, volume and cost, can so cause the reduction of performance.
The content of the invention
It is an object of the invention to provide one kind for many mobility closed chain linkage of bar two machineries of oxygen-acetylene cutting operation
Arm, overcomes the shortcomings of fluid pressure type oxygen-acetylene cutting Work machine arm hydraulic system element required precision high, complex structure, easy oil leakage,
Open-chain structure motor is solved simultaneously all installed in the position in joint, and the inertia that causes to roll over is big, dynamic property declines, and tires out
Product error is big, and bearing capacity is small, baroque problem.The invention provides one kind for many activities of bar two of oxygen-acetylene cutting operation
Degree closed chain linkage mechanical arm, it is characterised in that including：Can be circled round base, telescoping mechanism, luffing mechanism, wrist, burning torch, drive
Dynamic device；Wherein telescoping mechanism includes:One end is hingedly connected to first driving lever that can be circled round on base and second actively
Bar, the swing arm that one end is hinged with the other end of first driving lever, one end is hinged with the other end of second driving lever
Second connecting rod, one end is articulated with the third connecting rod on the lever arm of first driving lever, and one end and the third connecting rod
The fourth link that the other end is hinged；The other end of the fourth link is articulated with the swing arm, the second connecting rod it is another
End is articulated with the lever arm of the third connecting rod；Wherein luffing mechanism includes:One end be articulated with it is described can circle round on base the
Five connecting rods, the six-bar linkage that one end is hinged with the other end of the 5th connecting rod, and bottom is another with the six-bar linkage
The wrist that end is hinged;The top of the wrist is hinged with the other end of the swing arm.Drive device is made up of two servomotors,
Connect to drive corresponding rotation with the first driving lever 2 and the second driving lever 3 respectively.
The present invention carries out oxygen-acetylene cutting operation using the mobility closed chain linkage of many bars two, compared with open-chain structure, carries
The high stationarity and reliability of arm operation, without accumulated error, precision is higher；Compact conformation, rigidity is high, large carrying capacity,
Inertia is low, dynamic property is good, arm motion track flexible and diverse.Overcome fluid pressure type oxygen-acetylene cutting Work machine arm hydraulic pressure system
The shortcomings of system components accuracy requirement height, complex structure, easy oil leakage.
Brief description of the drawings
Fig. 1 is of the invention a kind of for many mobility closed chain linkage mechanical arms of bar two of oxygen-acetylene cutting operation
Operating diagram.
Specific embodiment
One kind is used for many mobility closed chain linkage mechanical arms of bar two of oxygen-acetylene cutting operation, including:Can circle round base 1,
Telescoping mechanism, luffing mechanism, wrist 10 and burning torch 11 and drive device.Wherein telescoping mechanism includes:First driving lever 2,
Two driving levers 3, swing arm 5, third connecting rod 7 and fourth link 8, one end of the first driving lever 2 are articulated with and can return by rotating pair
On rotation base 1, one end of the second driving lever 3 is articulated with by rotating pair and can circled round on base 1, wherein, the second driving lever 3 is located at
The front of the first driving lever 2, one end of swing arm 5 is hinged by rotating pair with the other end of the first driving lever 2, second connecting rod 6
One end is hinged by rotating pair with the other end of the second driving lever 3, and one end of third connecting rod 7 is articulated with the first master by rotating pair
On the lever arm of lever 2, one end of fourth link 8 is hinged by rotating pair with the other end of third connecting rod 7;Fourth link 8 it is another
One end is articulated with swing arm 5 by rotating pair, and the other end of second connecting rod 6 is articulated with the lever arm of third connecting rod 7 by rotating pair
On, the first driving lever 2 and swing arm 5 are in bending, wherein by third connecting rod 7 and the driving lever 2 of fourth link 8 and first and swing arm
5 part lever arm forms quadrangle drive mechanism, improves traveling comfort.Wherein luffing mechanism includes:5th connecting rod 4,
Six-bar linkage 9 and wrist connecting rod 13;One end of 5th connecting rod 4 is articulated with by rotating pair and can circled round on base 1, the 5th connecting rod 4
Positioned at the front of the second driving lever 3, one end of six-bar linkage 9 is hinged by rotating pair with the other end of the 5th connecting rod 4, and wrist connects
The bottom of bar 13 is hinged with the other end of six-bar linkage 9, and top and the other end of swing arm 5 of wrist connecting rod 13 are hinged.Drive dress
Put and connected with the first driving lever 2 and the second driving lever 3 to drive corresponding rotation respectively.Drive device is two servomotors,
The first driving lever 2 and the second driving lever 3 are driven respectively.
When using, cooperated by telescoping mechanism and luffing mechanism and acted accordingly, when the first driving lever 2 and the
When two driving levers 3 swing to the left, swing arm 5 is driven to left movement from the first driving lever 2, while driving second by the second driving lever 3
Connecting rod 6, third connecting rod 7, fourth link 8 and then drive swing arm 5 are moved upwards so that wrist connecting rod 13 is realized steeving with burning torch 11
Action;And move right when the first driving lever 2, and the second driving lever 3 to left movement when, be capable of achieving wrist connecting rod 13 and burning torch 11
Bend down action.
Be arranged on controllable drive motor on revolving dial by the present invention, simplifies the complexity of structure, reducing mechanism
Weight, volume and cost, each connecting rod rod member of the invention make lighter bar, so that whole mechanism kinematic inertia is small, dynamics
Performance is good, it is easy to control.
Claims (1)
1. it is a kind of to be used for many mobility closed chain linkage mechanical arms of bar two of oxygen-acetylene cutting operation, it is characterised in that including：Can return
Rotation base, telescoping mechanism, luffing mechanism, wrist, burning torch, drive device；Wherein telescoping mechanism includes:One end is hingedly connected to institute
The first driving lever and the second driving lever that can be circled round on base are stated, one end is dynamic with what the other end of first driving lever was hinged
Arm, the second connecting rod that one end is hinged with the other end of second driving lever, one end is articulated with the lever arm of first driving lever
On third connecting rod, and the fourth link that one end is hinged with the other end of the third connecting rod；The fourth link it is another
End is articulated with the swing arm, and the other end of the second connecting rod is articulated with the lever arm of the third connecting rod；Wherein pitching machine
Structure includes:One end is articulated with the 5th connecting rod that can be circled round on base, and one end is hinged with the other end of the 5th connecting rod
Six-bar linkage, and the wrist connecting rod that bottom is hinged with the other end of the six-bar linkage;The top of the wrist connecting rod and institute
The other end for stating swing arm is hinged；Drive device is made up of two servomotors, connects with the first driving lever and the second driving lever respectively
Connect to drive corresponding rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130563.8A CN106695060A (en) | 2016-12-09 | 2016-12-09 | Multi-rod two-motion-range closed chain connecting rod mechanism mechanical arm for oxygen-acetylene cutting operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611130563.8A CN106695060A (en) | 2016-12-09 | 2016-12-09 | Multi-rod two-motion-range closed chain connecting rod mechanism mechanical arm for oxygen-acetylene cutting operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695060A true CN106695060A (en) | 2017-05-24 |
Family
ID=58936285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611130563.8A Pending CN106695060A (en) | 2016-12-09 | 2016-12-09 | Multi-rod two-motion-range closed chain connecting rod mechanism mechanical arm for oxygen-acetylene cutting operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695060A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014083580A (en) * | 2012-10-26 | 2014-05-12 | Taiko Co Ltd | Fusion cutting machine |
| CN104259619A (en) * | 2014-08-22 | 2015-01-07 | 哈尔滨工程大学 | Portable cutting manipulator |
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
-
2016
- 2016-12-09 CN CN201611130563.8A patent/CN106695060A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014083580A (en) * | 2012-10-26 | 2014-05-12 | Taiko Co Ltd | Fusion cutting machine |
| CN104259619A (en) * | 2014-08-22 | 2015-01-07 | 哈尔滨工程大学 | Portable cutting manipulator |
| CN104912130A (en) * | 2015-06-04 | 2015-09-16 | 广西大学 | Multi-connecting-rod controllable excavating mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |