CN106799529A - A kind of variable active degree linkage for oxygen-acetylene cutting machine - Google Patents
A kind of variable active degree linkage for oxygen-acetylene cutting machine Download PDFInfo
- Publication number
- CN106799529A CN106799529A CN201611115884.0A CN201611115884A CN106799529A CN 106799529 A CN106799529 A CN 106799529A CN 201611115884 A CN201611115884 A CN 201611115884A CN 106799529 A CN106799529 A CN 106799529A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- oxygen
- large arm
- clamper
- 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
-
- 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
- B23K7/102—Auxiliary devices, e.g. for guiding or supporting the torch for controlling the spacial relationship between the workpieces and the gas torch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
A kind of variable active degree linkage for oxygen-acetylene cutting machine, including base 1, large arm elevating mechanism, clamper connecting rod luffing mechanism, clamper 27, burning torch 28, servo drive, the first locking device 5 and the second locking device 12；The large arm elevating mechanism includes large arm 8, the connecting rod 6 of fourth link 3 and the 5th, the clamper connecting rod luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, first locking device 5 and the second locking device 12 are separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of oxygen-acetylene cutting mechanism；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5 and the second locking device 12 are locked using electromagnetic mode.The present invention is only to be capable of achieving two free degree oxygen-acetylene cutting operations with a driving lever, reduces motor usage quantity, reduces oxygen-acetylene cutting mechanism cost.
Description
Technical field
The present invention relates to mechanical field, particularly a kind of variable active degree linkage for oxygen-acetylene cutting machine.
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.
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 oxygen-acetylene cutting machine.
The content of the invention
It is an object of the invention to provide a kind of variable active degree linkage for oxygen-acetylene cutting machine, fluid pressure type is overcome
The shortcomings of oxygen-acetylene cutting machine hydraulic system components accuracy requirement height, complex structure, easy oil leakage, overcome the motor of open-chain structure
It is required for being arranged on the shortcoming of joint position, and causes that the quantity of controllable drive motor is less than oneself of oxygen-acetylene cutting machine linkage
By spending, the electronic oxygen-acetylene cutting mechanism of existing machinery formula is overcome to need to be equipped with the controlled motor with linkage free degree equivalent amount
Come the shortcoming being controlled, simplify the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost.To realize
Above-mentioned purpose, the invention provides a kind of variable active degree linkage for oxygen-acetylene cutting machine, including base 1, large arm liter
Descending mechanism, clamper connecting rod luffing mechanism, clamper 27, burning torch 28, servo drive, the first locking device 5 and the second lock
Tight device 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3
With the 5th connecting rod 6, the one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, the other end by the 9th rotate secondary 9 and
Clamper connecting rod 10 is connected；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end passes through the 11st
Rotate secondary 4 to be connected with the one end of the 5th connecting rod 6, the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The folder
Holder connecting rod luffing mechanism includes driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and the
Seven-link assembly 25, one end of the driving lever 16 rotates secondary 15 and is connected with base 1 by first, the other end by second rotate secondary 17 and
The one end of first connecting rod 18 connects, and the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, and second
The other end of connecting rod 21 rotates secondary 22 and is connected with clamper connecting rod 10 by the 5th, and the one end of six-bar linkage 23 rotates secondary by the 12nd
24 are connected with the one end of seven-link assembly 25, the other end of six-bar linkage 23 rotates secondary 26 and connects with the middle part of first connecting rod 18 by the 13rd
Connect, the other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 is by the dynamic pair of eighth-turn
7 are connected with large arm 8, and the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking dress
Put 12 to be separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can be carried out according to the different operating mode of oxygen-acetylene cutting mechanism
Locking in good time；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5
Locked using electromagnetic mode with the second locking device 12.
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 oxygen-acetylene cutting machine linkage of the controllable drive motor for using
Degree, is to be capable of achieving two degrees of freedom oxygen-acetylene cutting operation using a driving lever, overcomes existing oxygen-acetylene cutting machine to need to be equipped with and connecting rod
The controlled motor of mechanism freedom equivalent amount simplifies the complexity of structure, the weight of reducing mechanism come the shortcoming being controlled
Amount, movement inertia, volume and cost, increased the controllability and stability of mechanism, improve operating efficiency.Also overcome simultaneously
Fluid pressure type oxygen-acetylene cutting machine hydraulic system components accuracy requirement height, complex structure, easy oil leakage, poor reliability, transmission efficiency are low
Shortcoming.
Brief description of the drawings
Fig. 1 is a kind of variable active degree linkage schematic diagram for oxygen-acetylene cutting machine of the present invention.Specific implementation
Mode
A kind of variable active degree linkage for oxygen-acetylene cutting machine, including base 1, large arm elevating mechanism, clamper connecting rod
Luffing mechanism, clamper 27, burning torch 28, servo drive, the first locking device 5 and the second locking device 12；The base 1
On removable revolving dial；The large arm elevating mechanism includes large arm 8, the connecting rod 6 of fourth link 3 and the 5th, described big
The one end of arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 and is connected with clamper connecting rod 10 by the 9th；Institute
State the one end of fourth link 3 to be connected with base 1 by the tenth rotation secondary 2, the other end is by the 11st rotation secondary 4 and the 5th connecting rod 6
One end connects, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The clamper connecting rod luffing mechanism bag
Include driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and seven-link assembly 25, the active
The one end of bar 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates secondary 17 and connects with the one end of first connecting rod 18 by second
Connect, the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, and the other end of second connecting rod 21 passes through
5th rotates secondary 22 is connected with clamper connecting rod 10, and the one end of six-bar linkage 23 rotates secondary 24 and seven-link assembly 25 1 by the 12nd
End connection, the other end of six-bar linkage 23 rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, and seven-link assembly 25 is another
End rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 is connected by eighth-turn dynamic secondary 7 with large arm 8, another
End rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking device 12 are separately mounted to
11 rotate in secondary 4 and eighth-turn dynamic secondary 7, can in good time be locked according to the different operating mode of oxygen-acetylene cutting mechanism；Servo is driven
Dynamic device includes the first servomotor, is connected to drive it to rotate with driving lever 16；First locking device 5 and the second locking device
12 are locked using electromagnetic mode.
At work, when large arm 8 is lifted, the first locking device 5 is opened, and the 11st rotates secondary 4 degree of affranchising, the second lock
Tight device 12 is closed, and eighth-turn dynamic secondary 7 loses the free degree, and now, large arm 8 is lifted under the effect of driving lever 16.Clamper connecting rod
During 10 independent pitching, the second locking device 12 is opened, and eighth-turn 7 degree of affranchising of dynamic pair, the first locking device 5 is locked, and the tenth
One rotates secondary 4 loses the free degree, and the respect thereto 1 of large arm 8 loses the free degree, and now clamper connecting rod is real under the driving of driving lever 16
Existing pitching.In whole oxygen-acetylene cutting operation process, the first locking device 5 and the second locking device 12 are according to different operation works
Condition, selects tight lock or opens respectively, common to complete the fortune such as large arm lifting and flexible, clamper connecting rod 10 and the pitching of clamper 27
It is dynamic, realize the oxygen-acetylene cutting operation of burning torch 28.First locking device 5 and the second locking device 12 can be locked using electromagnetic mode
Tightly, control easily to realize.
Claims (1)
1. a kind of variable active degree linkage for oxygen-acetylene cutting machine, it is characterised in that including：Base 1, large arm lift
Structure, clamper connecting rod luffing mechanism, clamper 27, burning torch 28, servo drive, the first locking device 5 and the second locking dress
Put 12；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 8, fourth link 3 and the
Five connecting rods 6, one end of the large arm 8 rotates secondary 14 and is connected with base 1 by the 6th, and the other end rotates secondary 9 with clamping by the 9th
Device connecting rod 10 is connected；The one end of the fourth link 3 rotates secondary 2 and is connected with base 1 by the tenth, and the other end is rotated by the 11st
Secondary 4 are connected with the one end of the 5th connecting rod 6, and the other end of the 5th connecting rod 6 rotates secondary 13 and is connected with large arm 8 by the 7th；The clamper
Connecting rod luffing mechanism includes that driving lever 16, first connecting rod 18, second connecting rod 21 and third connecting rod 11, six-bar linkage 23 and the 7th connect
Bar 25, one end of the driving lever 16 rotates secondary 15 and is connected with base 1 by first, and the other end rotates secondary 17 and first by second
The one end of connecting rod 18 connects, and the other end of first connecting rod 18 rotates secondary 19 and is connected with the one end of second connecting rod 21 by the 3rd, second connecting rod
21 other ends rotate secondary 22 and are connected with clamper connecting rod 10 by the 5th, the one end of six-bar linkage 23 by the 12nd rotate secondary 24 and
The connection of the one end of seven-link assembly 25, the other end of six-bar linkage 23 rotate secondary 26 and are connected with the middle part of first connecting rod 18 by the 13rd, the
The other end of seven-link assembly 25 rotates secondary 15 connect base 1 by first；The one end of the third connecting rod 11 by eighth-turn dynamic secondary 7 with it is big
Arm 8 is connected, and the other end rotates secondary 20 and is connected with second connecting rod 21 by the 4th；First locking device 5 and the second locking device 12
It is separately mounted in the 11st rotation secondary 4 and eighth-turn dynamic secondary 7, can be carried out according to the different operating mode of oxygen-acetylene cutting mechanism in good time
Locking；Servo drive is connected to drive it to rotate including the first servomotor with driving lever 16；First locking device 5 and
Two locking devices 12 are locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115884.0A CN106799529A (en) | 2016-12-07 | 2016-12-07 | A kind of variable active degree linkage for oxygen-acetylene cutting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611115884.0A CN106799529A (en) | 2016-12-07 | 2016-12-07 | A kind of variable active degree linkage for oxygen-acetylene cutting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106799529A true CN106799529A (en) | 2017-06-06 |
Family
ID=58985788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611115884.0A Pending CN106799529A (en) | 2016-12-07 | 2016-12-07 | A kind of variable active degree linkage for oxygen-acetylene cutting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106799529A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
-
2016
- 2016-12-07 CN CN201611115884.0A patent/CN106799529A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104612193A (en) * | 2014-12-12 | 2015-05-13 | 广西大学 | Movable and controllable loading mechanism with initiative metamorphism function |
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|---|---|---|---|
| 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: 20170606 |
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| WD01 | Invention patent application deemed withdrawn after publication |