CN106736103A - It is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device - Google Patents

It is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device Download PDF

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Publication number
CN106736103A
CN106736103A CN201611063001.6A CN201611063001A CN106736103A CN 106736103 A CN106736103 A CN 106736103A CN 201611063001 A CN201611063001 A CN 201611063001A CN 106736103 A CN106736103 A CN 106736103A
Authority
CN
China
Prior art keywords
rod
rotates
arm
locking
driving lever
Prior art date
Application number
CN201611063001.6A
Other languages
Chinese (zh)
Inventor
不公告发明人
Original Assignee
广西大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 广西大学 filed Critical 广西大学
Priority to CN201611063001.6A priority Critical patent/CN106736103A/en
Publication of CN106736103A publication Critical patent/CN106736103A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/003Programme-controlled manipulators having parallel kinematics

Abstract

It is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device, including base 1, large arm telescoping mechanism, underarm elevating mechanism, wrist link retaining mechanism, wrist 27, welding gun 28, servo drive, the first locking device 25 and the second locking device 26;The large arm telescoping mechanism is made up of fourth link 5, the first driving lever 3, the second driving lever 20 and first connecting rod 22, institute's maintaining body is made up of second connecting rod 17, holding connecting rod 18 and large arm 8, first locking device 25 is arranged on second and rotates secondary 4, second locking device 26 is arranged on the tenth and rotates secondary 16, servo drive includes the first servomotor, the second servomotor, is connected to drive it to rotate with the first driving lever 3, the second driving lever 20;The present invention substitutes conventional hydraulic transmission using variable freedom jointed gear unit, solves hydraulic welding mechanical arm hydraulic system complexity, the shortcoming of easy oil leakage.

Description

It is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device
Technical field
It is particularly a kind of to contain the variable freedom linkage welding for rotating secondary locking device the present invention relates to mechanical field Mechanical arm.
Background technology
Over the years, because the personnel of labour market are in short supply, human cost rises year by year, promotes electroplating equipment wielding machine arm and exists Extensive use in weld job.Electroplating equipment wielding machine arm has most of mechanical and fluid pressure type two types, current electroplating equipment wielding machine arm 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 producing leakage, and the hydraulic oil of leakage to pollute the environment after inner member abrasion;Hydraulic oil temperature influence Larger, gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that the phenomenon such as overheat, powerless in work;Hydraulic Elements processing essence Degree requires height, and matching requirements are strict, and manufacture is more difficult, and maintenance requires that technology is higher in use, 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 weldering Connect mechanical arm be using mechanical transmissioning piece realize welding act, 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 mechanical electronic electroplating equipment wielding machine of controllable mechanism Arm, hydraulic drive is instead of with linkage, when driving lever is driven by servomotor, easily realizes automation, NC postprocessing control System, solves some shortcomings of hydraulic system presence, but there is the control for needing outfit and linkage free degree equivalent amount Motor is controlled big and high cost the problem of mechanism's weight, movement inertia that complex structure is brought.
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 electroplating equipment wielding machine arm.
The content of the invention
Contain the variable freedom linkage electroplating equipment wielding machine for rotating secondary locking device it is an object of the invention to provide a kind of Arm, overcomes the shortcomings of fluid pressure type electroplating equipment wielding machine arm hydraulic system element required precision high, complex structure, easy oil leakage, overcomes open chain The motor of structure is required for being arranged on the shortcoming of joint position, and causes that the quantity of controllable drive motor is less than electroplating equipment wielding machine The free degree of arm link mechanism, overcomes the electronic electroplating equipment wielding machine arm structure of existing machinery formula to need outfit equal with the linkage free degree The controlled motor of quantity simplifies the complexity of structure, the weight of reducing mechanism, movement inertia, body come the shortcoming being controlled Product and cost.To achieve the above object, the variable freedom linkage for rotating secondary locking device is contained the invention provides a kind of Electroplating equipment wielding machine arm, including base 1, large arm telescoping mechanism, underarm elevating mechanism, wrist link retaining mechanism, wrist 27, welding gun 28th, servo drive, the first locking device 25 and the second locking device 26;The large arm telescoping mechanism by fourth link 5, First driving lever 3, the second driving lever 20 and first connecting rod 22 are constituted, and first driving lever 3 rotates secondary 2 and base by first 1 is connected, and the other end of the first driving lever 3 rotates secondary 4 and is connected with fourth link 5 by second, and the second driving lever 20 passes through the 3rd turn Dynamic secondary 19 are connected with base 1, and the other end of the second driving lever 20 rotates secondary 21 and is connected with first connecting rod 22 by the 4th, first connecting rod 22 other ends rotate secondary 6 and are connected with fourth link 5 by the 5th, and fourth link 5 rotates secondary 24 and connects with large arm 8 by the 14th Connect;The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, and the six-bar linkage 14 passes through the 6th Rotate secondary 15 to be connected with the second driving lever 20, the other end of six-bar linkage 14 rotates secondary 16 and is connected with second connecting rod 17 by the 7th, The other end of third connecting rod 17 rotates secondary 23 and is connected with underarm 12 by the 13rd, the other end of underarm 12 by eighth-turn dynamic secondary 11 and Wrist connecting rod 10 is connected;The wrist link retaining mechanism is made up of wrist connecting rod 10 and maintaining body, the maintaining body by Second connecting rod 17, holding connecting rod 18 and large arm 8 are constituted, and second connecting rod 17 rotates secondary 16 and is connected with six-bar linkage 14 by the 7th, The other end of second connecting rod 17 rotates secondary 13 and is connected with connecting rod 18 is kept by the tenth, keeps the other end of connecting rod 18 to pass through the 11st turn Dynamic secondary 7 are connected with large arm 8, and the other end of large arm 8 rotates secondary 9 and is connected with wrist connecting rod 10 by the 12nd;The first locking dress 25 the second rotations secondary 4 for being arranged on the end of the first driving lever 3 and the junction of fourth link 5 are put, the second locking device 26 is arranged on The end of second connecting rod 17 and the tenth rotation secondary 16 of the junction of six-bar linkage 14, are locked in good time according to the different operating mode of mechanism Tightly;Servo drive include the first servomotor, the second servomotor, be connected with the first driving lever 3, the second driving lever 20 with It is driven to rotate;First locking device 25 and the second locking device 26 are locked using electromagnetic mode, according to different operations Operating mode, selects tight lock or opens respectively, the motion such as common pitching for completing large arm lifting, wrist connecting rod and wrist, realizes welding gun 28 weld job.
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.Install locking device additional on linkage, And allow it that specific rotation pair is locked and loosened according to the different operating modes of mechanism, and the free degree of mechanism is reduced in good time, realize In the case where expected requirement is completed, the freedom of the quantity less than electroplating equipment wielding machine arm link mechanism of the controllable drive motor for using Degree, is to be capable of achieving two degrees of freedom weld job using a driving lever, overcomes existing electroplating equipment wielding machine arm to need to be equipped with and linkage The controlled motor of free degree equivalent amount simplifies the complexity of structure, the weight of reducing mechanism, fortune come the shortcoming being controlled Dynamic inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Also overcome hydraulic pressure simultaneously Formula electroplating equipment wielding machine arm hydraulic system element required precision is high, complex structure, easy oil leakage, poor reliability, the low shortcoming of transmission efficiency.
Brief description of the drawings
Fig. 1 is a kind of variable freedom linkage electroplating equipment wielding machine arm for containing rotation secondary locking device of the present invention Structural representation.
Specific embodiment
It is a kind of flexible containing the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device, including base 1, large arm Mechanism, underarm elevating mechanism, wrist link retaining mechanism, wrist 27, welding gun 28, servo drive, the first locking device 25 And second locking device 26;The base 1 is arranged on removable revolving dial;The large arm telescoping mechanism is connected by the 4th Bar 5, the first driving lever 3, the second driving lever 20 and first connecting rod 22 are constituted, first driving lever 3 by first rotate secondary 2 with Base 1 is connected, and the other end of the first driving lever 3 rotates secondary 4 and is connected with fourth link 5 by second, and the second driving lever 20 passes through the Three rotate secondary 19 is connected with base 1, and the other end of the second driving lever 20 rotates secondary 21 and is connected with first connecting rod 22 by the 4th, and first The other end of connecting rod 22 rotates secondary 6 and is connected with fourth link 5 by the 5th, and fourth link 5 rotates secondary 24 with large arm 8 by the 14th Connection;The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, and the six-bar linkage 14 is by the Six rotate secondary 15 is connected with the second driving lever 20, and the other end of six-bar linkage 14 rotates secondary 16 and connects with second connecting rod 17 by the 7th Connect, the other end of third connecting rod 17 rotates secondary 23 and is connected with underarm 12 by the 13rd, the other end of underarm 12 is by the dynamic pair of eighth-turn 11 are connected with wrist connecting rod 10;The wrist link retaining mechanism is made up of wrist connecting rod 10 and maintaining body, the holding machine Structure is made up of second connecting rod 17, holding connecting rod 18 and large arm 8, and second connecting rod 17 rotates secondary 16 and connects with six-bar linkage 14 by the 7th Connect, the other end of second connecting rod 17 rotates secondary 13 and is connected with connecting rod 18 is kept by the tenth, keeps the other end of connecting rod 18 to pass through the tenth One rotates secondary 7 is connected with large arm 8, and the other end of large arm 8 rotates secondary 9 and is connected with wrist connecting rod 10 by the 12nd;First lock Tight device 25 is arranged on the second rotation secondary 4 of the end of the first driving lever 3 and the junction of fourth link 5, and the second locking device 26 is pacified Mounted in the tenth rotation secondary 16 of the end of second connecting rod 17 and the junction of six-bar linkage 14, fitted according to the different operating mode of mechanism When lock;Servo drive includes the first servomotor, the second servomotor, connects with the first driving lever 3, the second driving lever 20 Connect to drive it to rotate;First locking device 25 and the second locking device 26 are locked using electromagnetic mode, according to different Working condition, selects tight lock or opens respectively, the motion such as common pitching for completing large arm lifting, wrist connecting rod and wrist, realizes The weld job of welding gun 28.

Claims (1)

1. it is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device, it is characterised in that including:Base 1st, large arm telescoping mechanism, underarm elevating mechanism, wrist link retaining mechanism, wrist 27, welding gun 28, servo drive, first The locking device 26 of locking device 25 and second;The base 1 is arranged on removable revolving dial;The large arm telescopic machine Structure is made up of fourth link 5, the first driving lever 3, the second driving lever 20 and first connecting rod 22, and first driving lever 3 is by the One rotates secondary 2 is connected with base 1, and the other end of the first driving lever 3 rotates secondary 4 and is connected with fourth link 5 by second, and second actively Bar 20 rotates secondary 19 and is connected with base 1 by the 3rd, and the other end of the second driving lever 20 rotates secondary 21 and first connecting rod by the 4th 22 connections, the other end of first connecting rod 22 rotates secondary 6 and is connected with fourth link 5 by the 5th, and fourth link 5 is rotated by the 14th Secondary 24 are connected with large arm 8;The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, and the described 6th Connecting rod 14 rotates secondary 15 and is connected with the second driving lever 20 by the 6th, and the other end of six-bar linkage 14 rotates pair 16 and the by the 7th Two connecting rods 17 are connected, and the other end of third connecting rod 17 rotates secondary 23 and is connected with underarm 12 by the 13rd, and the other end of underarm 12 passes through Eighth-turn dynamic secondary 11 is connected with wrist connecting rod 10;The wrist link retaining mechanism is made up of wrist connecting rod 10 and maintaining body, The maintaining body by second connecting rod 17, keep connecting rod 18 and large arm 8 to constitute, second connecting rod 17 rotates secondary 16 and the by the 7th Six-bar linkage 14 is connected, and the other end of second connecting rod 17 rotates secondary 13 and is connected with connecting rod 18 is kept by the tenth, keeps connecting rod 18 another End rotates secondary 7 and is connected with large arm 8 by the 11st, and the other end of large arm 8 rotates secondary 9 and is connected with wrist connecting rod 10 by the 12nd; First locking device 25 is arranged on the second rotation secondary 4 of the end of the first driving lever 3 and the junction of fourth link 5, the second lock Tight device 26 is arranged on the tenth rotation secondary 16 of the end of second connecting rod 17 and the junction of six-bar linkage 14, different according to mechanism Operating mode is locked in good time;Servo drive includes the first servomotor, the second servomotor, with the first driving lever 3, second Driving lever 20 connects to drive it to rotate;First locking device 25 and the second locking device 26 are locked using electromagnetic mode, According to different working conditions, tight lock is selected respectively or is opened, common pitching for completing large arm lifting, wrist connecting rod and wrist etc. Motion, realizes the weld job of welding gun 28.
CN201611063001.6A 2016-11-28 2016-11-28 It is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device CN106736103A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611063001.6A CN106736103A (en) 2016-11-28 2016-11-28 It is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611063001.6A CN106736103A (en) 2016-11-28 2016-11-28 It is a kind of to contain the variable freedom linkage electroplating equipment wielding machine arm for rotating secondary locking device

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003103400A (en) * 2001-09-26 2003-04-08 Toshiba Plant Kensetsu Co Ltd Automatic welding head construction
CN203679567U (en) * 2013-12-02 2014-07-02 大连齐车轨道交通装备有限责任公司 Welding special machine suitable for complex position welding
CN204308459U (en) * 2014-12-10 2015-05-06 无锡洲翔成套焊接设备有限公司 Double leval jib swing mechanism
CN104594406A (en) * 2014-12-25 2015-05-06 广西大学 Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism
CN104646881A (en) * 2014-12-23 2015-05-27 广西大学 Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism
CN204545769U (en) * 2015-04-08 2015-08-12 常州铭赛机器人科技股份有限公司 The lever regulated mechanism of soldering tip

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003103400A (en) * 2001-09-26 2003-04-08 Toshiba Plant Kensetsu Co Ltd Automatic welding head construction
CN203679567U (en) * 2013-12-02 2014-07-02 大连齐车轨道交通装备有限责任公司 Welding special machine suitable for complex position welding
CN204308459U (en) * 2014-12-10 2015-05-06 无锡洲翔成套焊接设备有限公司 Double leval jib swing mechanism
CN104646881A (en) * 2014-12-23 2015-05-27 广西大学 Method for performing welding construction by use of multi-DOF (Degree Of Freedom) controllable rocking arm type connecting rod mechanism
CN104594406A (en) * 2014-12-25 2015-05-06 广西大学 Electromagnetic metamorphism multi-closed-chain connecting rod controllable excavating mechanism with bucket holding mechanism
CN204545769U (en) * 2015-04-08 2015-08-12 常州铭赛机器人科技股份有限公司 The lever regulated mechanism of soldering tip

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