CN106737718A - One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor - Google Patents
One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor Download PDFInfo
- Publication number
- CN106737718A CN106737718A CN201611062697.0A CN201611062697A CN106737718A CN 106737718 A CN106737718 A CN 106737718A CN 201611062697 A CN201611062697 A CN 201611062697A CN 106737718 A CN106737718 A CN 106737718A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- servomotor
- connecting rod
- arm
- wrist
- 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
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- 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
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- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- 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
- B25J11/005—Manipulators for mechanical processing tasks
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor, 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, wrist 20, welding gun 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 wrist 20 with welding gun 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 wrist 20, realize the weld job of welding gun 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
It is particularly a kind of that multiple degrees of freedom linkage novel welding is driven using servomotor 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.
The content of the invention
Multiple degrees of freedom linkage novel welding machinery is driven using servomotor it is an object of the invention to provide one kind
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, simplifies the complexity of structure, the weight of reducing mechanism, fortune
Dynamic inertia, volume and cost.To achieve the above object, the present invention provides a kind of using servomotor driving multiple degrees of freedom connecting rod machine
Structure novel welding machinery arm, including base 9, the first driving lever 1, the second driving lever 2, the 3rd driving lever 3, third connecting rod the 4, the 4th
Connecting rod 7, first connecting rod 5, large arm 6, wrist 20, welding gun 8 and servo drive, 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 wrist 20 with welding gun 8, and servo drive includes the first servomotor, the
Two servomotors, 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
It is rotated, and the first driving lever 1, the second driving lever 2 and the common driving of the 3rd driving lever 3 complete the pitching of large arm lifting and wrist 20
Deng motion, the weld job of welding gun 8 is realized.
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 electroplating equipment wielding machine arm 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 of the present invention a kind of using servomotor driving multiple degrees of freedom linkage novel welding machinery arm machine
Structure schematic diagram.
Specific embodiment
One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor, 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, wrist 20, welding gun 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 wrist 20 with welding gun 8, and servo drive includes the first servomotor, the
Two servomotors, 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
It is rotated, and the first driving lever 1, the second driving lever 2 and the common driving of the 3rd driving lever 3 complete the pitching of large arm lifting and wrist 20
Deng motion, the weld job of welding gun 8 is realized.
Claims (1)
1. it is a kind of that multiple degrees of freedom linkage novel welding machinery arm, including base 9, the first driving lever are driven using servomotor
1st, the second driving lever 2, the 3rd driving lever 3, third connecting rod 4, fourth link 7, first connecting rod 5, large arm 6, wrist 20, welding gun 8 with
And servo drive, the base 9 is on removable revolving dial；Described one end of first driving lever 1 passes through first turn
Dynamic secondary 11 are 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 passes through the
Five rotate secondary 15 is connected with first connecting rod 5；Described one end of second driving lever 2 rotates secondary 12 and is connected with base 9 by second, separately
One 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 and bottom by the 3rd
Seat 9 is connected, and the other end is connected by eighth-turn dynamic secondary 18 with fourth link 7；The one end of the large arm 6 by the 9th rotate secondary 19 with
Fourth link 7 is connected, and the other end is connected by wrist 20 with welding gun 8, and servo drive includes that the first servomotor, second are watched
Motor, the 3rd servomotor are taken, is connected to drive its turn with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 respectively
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062697.0A CN106737718A (en) | 2016-11-28 | 2016-11-28 | One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611062697.0A CN106737718A (en) | 2016-11-28 | 2016-11-28 | One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737718A true CN106737718A (en) | 2017-05-31 |
Family
ID=58901718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611062697.0A Pending CN106737718A (en) | 2016-11-28 | 2016-11-28 | One kind drives multiple degrees of freedom linkage novel welding machinery arm using servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737718A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009074704A1 (en) * | 2007-12-13 | 2009-06-18 | Universidad De Málaga | All-terrain robot system comprising a multiple-articulation manoeuvring arm, and control and sensor elements which are removable while remaining functional |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer 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 |
-
2016
- 2016-11-28 CN CN201611062697.0A patent/CN106737718A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009074704A1 (en) * | 2007-12-13 | 2009-06-18 | Universidad De Málaga | All-terrain robot system comprising a multiple-articulation manoeuvring arm, and control and sensor elements which are removable while remaining functional |
| 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 |
| CN104493816A (en) * | 2014-12-25 | 2015-04-08 | 广西大学 | Metamorphic parallel-connection robot palletizer mechanism |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170531 |
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| WD01 | Invention patent application deemed withdrawn after publication |