CN106735718A - A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage - Google Patents
A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage Download PDFInfo
- Publication number
- CN106735718A CN106735718A CN201611116571.7A CN201611116571A CN106735718A CN 106735718 A CN106735718 A CN 106735718A CN 201611116571 A CN201611116571 A CN 201611116571A CN 106735718 A CN106735718 A CN 106735718A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- servomotor
- connecting rod
- base
- cutting machine
- 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.)
- Pending
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
Abstract
A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage, including base 9, first driving lever 1, second driving lever 2, 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, clamper 20, burning torch 8 and servo drive, the one end of the large arm 6 rotates secondary 19 and is connected with fourth link 7 by the 9th, the other end is connected by clamper 20 with burning torch 8, servo drive includes the first servomotor, second servomotor, 3rd servomotor, respectively with the first driving lever 1, second driving lever 2 and the 3rd driving lever 3 connect to drive it to rotate, first driving lever 1, second driving lever 2 and common driving of the 3rd driving lever 3 complete the motions such as large arm lifting and the pitching of clamper 20, realize the oxygen-acetylene cutting operation of burning torch 8.Motor is installed on base the present invention to solve open chain mechanism arm weight big, the problems such as bad dynamic performance.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom
Linkage.
Background technology
Most of currently manufactured general oxygen-acetylene cutting machine of industry is the cascaded structure joint type motor driving machine for open form
Tool hand, it is mainly characterized in that motor is all arranged on each joint of manipulator, each by motor driving mechanical hand
The rotation in individual joint, realizes the various actions of manipulator.Due to the driving electricity of the cascaded structure articulated robot of open form
All installed in the position in joint, there is problems with this frame mode with machine：Manipulator arm needs the weight of carrying motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, can so increase the load of motor, increases the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while the accumulation that motor all causes manipulator installed in joint position is missed
Poor big, small bearing capacity, complex structure, the degree of modularity are low.It is in parallel with the development and the raising of control technology of motor technology
Mechanism's extensive development space for manipulator is provided, the multiple freedom parallel mechanism driven by controlled motor not only has work
Space is big, flexible movements, can complete the movement locus output of complexity, while also have low cost of manufacture, maintaining simple etc.
Advantage.
The content of the invention
Multiple degrees of freedom connecting rod is driven it is an object of the invention to provide a kind of servomotor for new oxygen-acetylene cutting machine
Mechanism, overcomes the shortcomings of fluid pressure type oxygen-acetylene cutting machine hydraulic system components accuracy requirement height, complex structure, easy oil leakage, overcomes out
The motor of chain structure be required for be arranged on joint position shortcoming, simplify structure complexity, the weight of reducing mechanism,
Movement inertia, volume and cost.To achieve the above object, the present invention provides a kind of servomotor for new oxygen-acetylene cutting machine
Drive multiple degrees of freedom linkage, including base 9, the first driving lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4,
Fourth link 7, first connecting rod 5, large arm 6, clamper 20, burning torch 8 and servo drive, described one end of first driving lever 1
Secondary 11 are rotated by first to be connected with base 9, the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and third connecting rod 4 is another
One end rotates secondary 15 and is connected with first connecting rod 5 by the 5th；Described one end of second driving lever 2 rotates secondary 12 and bottom by second
Seat 9 is connected, and the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 passes through the 3rd turn
Dynamic secondary 13 are connected with base 9, and the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 passes through the 9th
Rotate secondary 19 to be connected with fourth link 7, the other end is connected by clamper 20 with burning torch 8, and servo drive is watched including first
Motor, the second servomotor, the 3rd servomotor are taken, is connected with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 respectively
Connect to drive it to rotate, the first driving lever 1, the second driving lever 2 and common driving of the 3rd driving lever 3 complete large arm lifting and clamping
Pitching of device 20 etc. is moved, and realizes the oxygen-acetylene cutting operation of burning torch 8.
The present invention uses controllable many bar closed chain mechanisms, and the motor for overcoming open-chain structure is required for being arranged on joint position
The shortcoming put, improves the stationarity and reliability of arm operation, and without accumulated 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, overcome fluid pressure type oxygen-acetylene cutting machine liquid
Press system element required precision high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is that a kind of servomotor for new oxygen-acetylene cutting machine of the present invention drives multiple degrees of freedom linkage
Structural scheme of mechanism.
Specific embodiment
A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage, including base 9, first to lead
Lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, clamper 20, cut
Rifle 8 and servo drive；The base 9 is arranged on removable revolving dial；Described one end of first driving lever 1 passes through
First rotates secondary 11 is connected with base 9, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, the other end of third connecting rod 4
Secondary 15 are rotated by the 5th to be connected with first connecting rod 5；Described one end of second driving lever 2 rotates secondary 12 and connects with base 9 by second
Connect, the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 rotates secondary 13 by the 3rd
It is connected with base 9, the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 rotates secondary by the 9th
19 are connected with fourth link 7, and the other end is connected by clamper 20 with burning torch 8, servo drive include the first servomotor,
Second servomotor, the 3rd servomotor, are connected to drive respectively with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3
Its rotation is moved, the first driving lever 1, the second driving lever 2 and common driving of the 3rd driving lever 3 complete large arm lifting and clamper 20
Pitching etc. is moved, and realizes the oxygen-acetylene cutting operation of burning torch 8.
Claims (1)
1. a kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage, including base 9, first is actively
Bar 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, clamper 20, burning torch
8 and servo drive, the base 9 is arranged on removable revolving dial；Described one end of first driving lever 1 is by the
One rotates secondary 11 is connected with base 9, and the other end rotates secondary 14 and is connected with third connecting rod 4 by the 4th, and the other end of third connecting rod 4 leads to
The 5th rotation secondary 15 is crossed to be connected with first connecting rod 5；Described one end of second driving lever 2 rotates secondary 12 and connects with base 9 by second
Connect, the other end rotates secondary 16 and is connected with first connecting rod 5 by the 6th；Described one end of 3rd driving lever 3 rotates secondary 13 by the 3rd
It is connected with base 9, the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 rotates secondary by the 9th
19 are connected with fourth link 7, and the other end is connected by clamper 20 with burning torch 8, servo drive include the first servomotor,
Second servomotor, the 3rd servomotor, are connected to drive respectively with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3
Move its rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611116571.7A CN106735718A (en) | 2016-12-07 | 2016-12-07 | A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611116571.7A CN106735718A (en) | 2016-12-07 | 2016-12-07 | A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106735718A true CN106735718A (en) | 2017-05-31 |
Family
ID=58882221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611116571.7A Pending CN106735718A (en) | 2016-12-07 | 2016-12-07 | A kind of servomotor for new oxygen-acetylene cutting machine drives multiple degrees of freedom linkage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106735718A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2145186B2 (en) * | 1971-09-09 | 1975-05-22 | Mitsui Shipbuilding & Engineering Co., Ltd., Tokio | Splash protected guided flame cutter head - has oxygen pressure operated piston for moving head on cutting the starting hole |
| CN104174971A (en) * | 2014-07-31 | 2014-12-03 | 南通艾特软件有限公司 | Bottom-driven-type double-parallelogram unlimited rotation bevel cutting head |
| CN104551468A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Controllable mechanism-type mobile welding robot with five degrees of freedom |
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable 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 |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
-
2016
- 2016-12-07 CN CN201611116571.7A patent/CN106735718A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2145186B2 (en) * | 1971-09-09 | 1975-05-22 | Mitsui Shipbuilding & Engineering Co., Ltd., Tokio | Splash protected guided flame cutter head - has oxygen pressure operated piston for moving head on cutting the starting hole |
| CN104174971A (en) * | 2014-07-31 | 2014-12-03 | 南通艾特软件有限公司 | Bottom-driven-type double-parallelogram unlimited rotation bevel cutting head |
| CN104551468A (en) * | 2014-12-17 | 2015-04-29 | 广西大学 | Controllable mechanism-type mobile welding robot with five degrees of freedom |
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
| CN104626092A (en) * | 2014-12-17 | 2015-05-20 | 广西大学 | Four-freedom-degree controllable mechanism type movable mechanical arm with seven connecting rods |
| 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 |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |
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| WD01 | Invention patent application deemed withdrawn after publication |