CN106737545A - It is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device - Google Patents
It is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device Download PDFInfo
- Publication number
- CN106737545A CN106737545A CN201611068616.8A CN201611068616A CN106737545A CN 106737545 A CN106737545 A CN 106737545A CN 201611068616 A CN201611068616 A CN 201611068616A CN 106737545 A CN106737545 A CN 106737545A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- driving lever
- wrist
- large arm
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- B25J18/00—Arms
-
- 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
Abstract
It is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device, including base 1, large arm telescoping mechanism, underarm elevating mechanism, wrist link retaining mechanism, wrist 27, nozzle 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；It is of the invention that conventional hydraulic transmission is substituted using variable freedom jointed gear unit, solve hydraulic pressure painting operation machinery arm hydraulic system complexity, the shortcoming of easy oil leakage.
Description
Technical field
It is particularly a kind of to contain the variable freedom linkage application for rotating secondary locking device the present invention relates to mechanical field
Work machine 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 use of the arm in painting operation.Painting operation machinery arm has mechanical and fluid pressure type two types, current painting operation
Most of mechanical arm of mechanical arm is hydraulic-driven, is 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 of leakage can pollute ring
Border；Hydraulic oil temperature influence is larger, and gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, 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 requires technology in use
Higher, difficulty is larger.As the increase of painting operation machinery arm function, its hydraulic system become increasingly complex, failure has more
Have sudden, disguised.Mechanical painting operation machinery arm is to realize that painting operation is acted using mechanical transmissioning piece, with firm
Durable the advantages of, but the mechanical painting operation machinery arm of traditional single-degree-of-freedom can not complete the action of complexity, range of application
Extremely limited, the electronic painting operation machinery arm of mechanical controllable mechanism instead of hydraulic drive with linkage, when driving lever by
When servomotor drives, automation, NC postprocessing control are easily realized, solve some shortcomings of hydraulic system presence, but exist
Need to be equipped with the controlled motor with linkage free degree 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
Contain the variable freedom linkage painting operation for rotating secondary locking device it is an object of the invention to provide a kind of
Mechanical arm, overcomes the shortcomings of fluid pressure type painting operation machinery arm hydraulic system element required precision high, complex structure, easy oil leakage,
Overcome the motor of open-chain structure to be required for being arranged on the shortcoming of joint position, and cause that the quantity of controllable drive motor is less than
The free degree of the mechanical arm link mechanism of painting operation, overcomes the electronic painting operation machinery arm structure of existing machinery formula to need to be equipped with and connect
The controlled motor of linkage free degree equivalent amount simplifies the complexity of structure come the shortcoming being controlled, reducing mechanism
Weight, movement inertia, volume and cost.To achieve the above object, the invention provides a kind of containing rotating secondary locking device
Variable freedom linkage painting operation machinery arm, including base 1, large arm telescoping mechanism, underarm elevating mechanism, wrist connecting rod are protected
Hold mechanism, wrist 27, nozzle 28, servo drive, the first locking device 25 and the second locking device 26；The large arm is stretched
Contracting mechanism 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 leads to
Cross the first rotation secondary 2 to be connected with base 1, the other end of the first driving lever 3 rotates secondary 4 and is connected with fourth link 5 by second, second
Driving lever 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 by the 4th
Connecting rod 22 is connected, and 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 passes through the 14th
Secondary 24 are rotated to be connected with large arm 8；The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, described
Six-bar linkage 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 secondary 16 by the 7th
It is connected with second connecting rod 17, 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
It is connected with wrist connecting rod 10 by eighth-turn dynamic secondary 11；The wrist link retaining mechanism is by wrist connecting rod 10 and maintaining body group
Into the maintaining body is made up of second connecting rod 17, holding connecting rod 18 and large arm 8, and second connecting rod 17 rotates secondary 16 by the 7th
It is connected with six-bar linkage 14, 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
The other 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 connects with wrist connecting rod 10 by the 12nd
Connect；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, second
Locking 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 locked in good time；Servo drive includes the first servomotor, the second servomotor, with the first driving lever 3, the
Two driving levers 20 connect to drive it to rotate；First locking device 25 and the second locking device 26 are locked using electromagnetic mode
Tightly, according to different working conditions, tight lock is selected respectively or is opened, it is common to complete bowing for large arm lifting, wrist connecting rod and wrist
The motion such as face upward, realize the painting operation operation of nozzle 28.
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 quantity of the controllable drive motor for using less than painting operation machinery arm link mechanism from
It is to be capable of achieving two degrees of freedom painting operation operation using a driving lever by spending, overcomes existing painting operation machinery arm to need to be equipped with
The shortcoming being controlled with the controlled motor of linkage free degree equivalent amount, simplifies the complexity of structure, reduces machine
The weight of structure, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Simultaneously
Overcome fluid pressure type painting operation machinery arm hydraulic system element required precision high, complex structure, easy oil leakage, poor reliability, biography
The low shortcoming of efficiency of movement.
Brief description of the drawings
Fig. 1 is a kind of variable freedom linkage painting operation machinery for containing rotation secondary locking device of the present invention
The structural representation of arm.
Specific embodiment
It is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device, including base 1, large arm
Telescoping mechanism, underarm elevating mechanism, wrist link retaining mechanism, wrist 27, nozzle 28, servo drive, the first locking dress
Put 25 and second locking device 26；The base 1 is arranged on removable revolving dial；The large arm telescoping mechanism is by
Double leval jib 5, the first driving lever 3, the second driving lever 20 and first connecting rod 22 are constituted, and first driving lever 3 is rotated by first
Secondary 2 are 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 the second driving lever 20 leads to
Cross the 3rd rotation secondary 19 to be connected with base 1, the other end of the second driving lever 20 rotates secondary 21 and is connected with first connecting rod 22 by the 4th,
The other end of first connecting rod 22 rotates secondary 6 and is connected with fourth link 5 by the 5th, fourth link 5 by the 14th rotate secondary 24 and
Large arm 8 is connected；The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, the six-bar linkage 14
Secondary 15 are rotated by the 6th to be connected with the second driving lever 20, the other end of six-bar linkage 14 rotates secondary 16 and second connecting rod by the 7th
17 connections, 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 are connected with wrist connecting rod 10；The wrist link retaining mechanism is made up of wrist connecting rod 10 and maintaining body, the guarantor
Hold mechanism to be made up of second connecting rod 17, holding connecting rod 18 and large arm 8, second connecting rod 17 rotates secondary 16 and six-bar linkage by the 7th
14 connections, 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
11st 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；Described
One 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 locking device
26 the tenth rotations secondary 16 for being arranged on the end of second connecting rod 17 and the junction of six-bar linkage 14, enter according to the different operating mode of mechanism
Row locking in good time；Servo drive includes the first servomotor, the second servomotor, 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 not
Same working condition, selects tight lock or opens respectively, and the motions such as pitching of large arm lifting, wrist connecting rod and wrist are completed jointly,
Realize the painting operation operation of nozzle 28.
Claims (1)
1. it is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device, it is characterised in that including：
Base 1, large arm telescoping mechanism, underarm elevating mechanism, wrist link retaining mechanism, wrist 27, nozzle 28, servo drive,
First locking device 25 and the second locking device 26；The base 1 is arranged on removable revolving dial；The large arm is stretched
Contracting mechanism 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 leads to
Cross the first rotation secondary 2 to be connected with base 1, the other end of the first driving lever 3 rotates secondary 4 and is connected with fourth link 5 by second, second
Driving lever 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 by the 4th
Connecting rod 22 is connected, and 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 passes through the 14th
Secondary 24 are rotated to be connected with large arm 8；The underarm elevating mechanism is made up of underarm 12, second connecting rod 17 and six-bar linkage 14, described
Six-bar linkage 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 secondary 16 by the 7th
It is connected with second connecting rod 17, 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
It is connected with wrist connecting rod 10 by eighth-turn dynamic secondary 11；The wrist link retaining mechanism is by wrist connecting rod 10 and maintaining body group
Into the maintaining body is made up of second connecting rod 17, holding connecting rod 18 and large arm 8, and second connecting rod 17 rotates secondary 16 by the 7th
It is connected with six-bar linkage 14, 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
The other 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 connects with wrist connecting rod 10 by the 12nd
Connect；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, second
Locking 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 locked in good time；Servo drive includes the first servomotor, the second servomotor, with the first driving lever 3, the
Two driving levers 20 connect to drive it to rotate；First locking device 25 and the second locking device 26 are locked using electromagnetic mode
Tightly, according to different working conditions, tight lock is selected respectively or is opened, it is common to complete bowing for large arm lifting, wrist connecting rod and wrist
The motion such as face upward, realize the painting operation operation of nozzle 28.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068616.8A CN106737545A (en) | 2016-11-29 | 2016-11-29 | It is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611068616.8A CN106737545A (en) | 2016-11-29 | 2016-11-29 | It is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737545A true CN106737545A (en) | 2017-05-31 |
Family
ID=58905054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611068616.8A Pending CN106737545A (en) | 2016-11-29 | 2016-11-29 | It is a kind of to contain the variable freedom linkage painting operation machinery arm for rotating secondary locking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737545A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6480773B1 (en) * | 2000-08-09 | 2002-11-12 | Harnischfeger Industries, Inc. | Automatic boom soft setdown mechanism |
| CN103174178A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine |
| 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 |
-
2016
- 2016-11-29 CN CN201611068616.8A patent/CN106737545A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6480773B1 (en) * | 2000-08-09 | 2002-11-12 | Harnischfeger Industries, Inc. | Automatic boom soft setdown mechanism |
| CN103174178A (en) * | 2013-02-08 | 2013-06-26 | 广西大学 | Branch-chain stop control type multiple degrees of freedom link mechanism form loading machine |
| 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 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20170531 |
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| WD01 | Invention patent application deemed withdrawn after publication |