CN106825849A - A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage - Google Patents
A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage Download PDFInfo
- Publication number
- CN106825849A CN106825849A CN201611116605.2A CN201611116605A CN106825849A CN 106825849 A CN106825849 A CN 106825849A CN 201611116605 A CN201611116605 A CN 201611116605A CN 106825849 A CN106825849 A CN 106825849A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- locking device
- large arm
- oxygen
- 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
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage, 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 22；The large arm elevating mechanism includes large arm 20, first connecting rod 3 and second connecting rod 6, the clamper connecting rod luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, the locking device 22 of first locking device 5 and second is separately mounted to the second rotation secondary 4 and the 5th and rotates on secondary 7, and servo drive is connected to drive it to rotate including the first servomotor with driving lever 17；First locking device 5 and the second locking device 22 are locked using electromagnetic mode.The present invention is to be capable of achieving two free degree oxygen-acetylene cutting operations using a driving lever, reduces motor usage quantity, reduces oxygen-acetylene cutting mechanism cost.
Description
Technical field
Invention is related to mechanical field, particularly a kind of servomotor for oxygen-acetylene cutting machine to drive variable active degree connecting rod
Mechanism.
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
Variable active degree connecting rod machine is driven it is an object of the invention to provide a kind of servomotor for oxygen-acetylene cutting machine
Structure, overcomes the shortcomings of fluid pressure type oxygen-acetylene cutting machine hydraulic system components accuracy requirement height, 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 oxygen-acetylene cutting
The free degree of machine linkage, overcomes the electronic oxygen-acetylene cutting mechanism 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, variable active is driven the invention provides a kind of servomotor for oxygen-acetylene cutting machine
Degree linkage, including base 1, large arm elevating mechanism, clamper connecting rod luffing mechanism, clamper 27, burning torch 28, servo-drive
Device, the first locking device 5 and the second locking device 22；The large arm elevating mechanism includes large arm 20, first connecting rod 3 and the
Two connecting rods 6, one end of the large arm 20 rotates secondary 19 and is connected with base 1 by the 3rd, and the other end rotates secondary 8 with clamping by the 6th
Device connecting rod 9 is connected；The one end of the first connecting rod 3 rotates secondary 2 and is connected with base 1 by first, and the other end rotates secondary 4 by second
It is connected with the one end of second connecting rod 6, the other end of second connecting rod 6 rotates secondary 21 and is connected with large arm 20 by the 4th；The clamper connects
Bar luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, and the one end of the driving lever 17 is by the
11 rotate secondary 18 is connected with base 1, and the other end rotates secondary 16 and is connected with the one end of third connecting rod 15 by the tenth, third connecting rod 15
The other end rotates secondary 14 and is connected with first end of connector 13 by the 9th, and the one end of the fourth link 11 is dynamic by eighth-turn
Secondary 12 are connected with second end of connector 13, and the other end rotates secondary 10 and is connected with clamper connecting rod 9 by the 7th, connector 13
The 3rd end rotate secondary 7 by the 5th and be connected with large arm 20；The locking device 22 of first locking device 5 and second is pacified respectively
Secondary 4 and the 5th are rotated mounted in second to rotate on secondary 7, can in good time be locked according to the different operating mode of oxygen-acetylene cutting mechanism；Watch
Drive device is taken to be connected to drive it to rotate with driving lever 17 including the first servomotor；First locking device 5 and the second locking
Device 22 is locked using electromagnetic mode.
A kind of servomotor drive link formula of the present invention can variable freedom oxygen-acetylene cutting machine use controllable many bar closed chain mechanisms,
Overcome open-chain structure motor be required for be arranged on joint position shortcoming, improve arm operation stationarity and can
By property, without accumulated error, precision is higher；Compact conformation, rigidity is high, and large carrying capacity, inertia are low, dynamic property is good, arm fortune
Dynamic rail mark flexible and diverse.Install locking device additional on linkage, and allow it to lock and loosen according to the different operating modes of mechanism
It is specific to rotate secondary, the free degree of mechanism is reduced in good time, realize in the case where expected requirement is completed, the controllable drive for using
The free degree of the quantity less than oxygen-acetylene cutting machine linkage of dynamic motor, is to be capable of achieving under two degrees of freedom gas cutting using a driving lever
Material operation, overcomes existing oxygen-acetylene cutting machine to need to be equipped with the controlled motor of linkage free degree equivalent amount to be controlled
Shortcoming, simplify the complexity of structure, the weight of reducing mechanism, movement inertia, volume and cost increased the controllable of mechanism
Property and stability, improve operating efficiency.Also overcome simultaneously the requirement of fluid pressure type oxygen-acetylene cutting machine hydraulic system components accuracy it is 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 oxygen-acetylene cutting machine of the present invention drives variable active degree linkage to illustrate
Figure.
Specific embodiment
A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage, including the lifting of base 1, large arm
Mechanism, clamper connecting rod luffing mechanism, clamper 27, burning torch 28, servo drive, the first locking device 5 and the second locking
Device 22；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 20, the and of first connecting rod 3
Second connecting rod 6, one end of the large arm 20 rotates secondary 19 and is connected with base 1 by the 3rd, and the other end rotates secondary 8 with folder by the 6th
Holder connecting rod 9 is connected；The one end of the first connecting rod 3 rotates secondary 2 and is connected with base 1 by first, and the other end is rotated by second
Secondary 4 are connected with the one end of second connecting rod 6, and the other end of second connecting rod 6 rotates secondary 21 and is connected with large arm 20 by the 4th；The clamper
Connecting rod luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, and the one end of the driving lever 17 passes through
11st rotates secondary 18 is connected with base 1, and the other end rotates secondary 16 and is connected with the one end of third connecting rod 15 by the tenth, third connecting rod
15 other ends rotate secondary 14 and are connected with first end of connector 13 by the 9th, and the one end of the fourth link 11 passes through eighth-turn
Dynamic secondary 12 are connected with second end of connector 13, and the other end rotates secondary 10 and is connected with clamper connecting rod 9 by the 7th, connector
13 the 3rd end rotates secondary 7 and is connected with large arm 20 by the 5th；The locking device 22 of first locking device 5 and second is distinguished
Secondary 4 and the 5th are rotated installed in second to rotate on 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 17；First locking device 5 and the second lock
Tight device 22 is locked using electromagnetic mode.
At work, when large arm 20 is lifted, the first locking device 5 is opened, and second rotates secondary 4 degree of affranchising, the second lock
Tight device 22 is locked, and the 5th rotates secondary 7 loses the free degree, and now, large arm 20 is lifted under the effect of driving lever 17.Clamper connecting rod
During 9 independent pitching, the second locking device 22 is opened, and the 5th rotates secondary 7 degree of affranchising, and the first locking device 5 is locked, second turn
Dynamic secondary 4 lose the free degree, and the respect thereto 1 of large arm 20 loses the free degree, and now clamper connecting rod 9 is realized under the driving of driving lever 17
Pitching.In whole oxygen-acetylene cutting operation process, the first locking device 5 and the second locking device 22 are according to different operation works
Condition, selection is tight respectively locks or opens, and the motion such as pitching of the lifting of common completion large arm, clamper connecting rod 12 and clamper 27 is real
The oxygen-acetylene cutting operation of existing burning torch 28.First locking device 5 and the second locking device 22 are locked using electromagnetic mode, control
Easily realize.
Claims (1)
1. a kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage, 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 22；The base 1 is arranged on removable revolving dial；The large arm elevating mechanism includes large arm 20, first connecting rod 3 and the
Two connecting rods 6, one end of the large arm 20 rotates secondary 19 and is connected with base 1 by the 3rd, and the other end rotates secondary 8 with clamping by the 6th
Device connecting rod 9 is connected；The one end of the first connecting rod 3 rotates secondary 2 and is connected with base 1 by first, and the other end rotates secondary 4 by second
It is connected with the one end of second connecting rod 6, the other end of second connecting rod 6 rotates secondary 21 and is connected with large arm 20 by the 4th；The clamper connects
Bar luffing mechanism includes driving lever 17, third connecting rod 15, connector 13 and fourth link 11, and the one end of the driving lever 17 is by the
11 rotate secondary 18 is connected with base 1, and the other end rotates secondary 16 and is connected with the one end of third connecting rod 15 by the tenth, third connecting rod 15
The other end rotates secondary 14 and is connected with first end of connector 13 by the 9th, and the one end of the fourth link 11 is dynamic by eighth-turn
Secondary 12 are connected with second end of connector 13, and the other end rotates secondary 10 and is connected with clamper connecting rod 9 by the 7th, connector 13
The 3rd end rotate secondary 7 by the 5th and be connected with large arm 20；The locking device 22 of first locking device 5 and second is pacified respectively
Secondary 4 and the 5th are rotated mounted in second to rotate on secondary 7, can in good time be locked according to the different operating mode of oxygen-acetylene cutting mechanism；Watch
Drive device is taken to be connected to drive it to rotate with driving lever 17 including the first servomotor；First locking device 5 and the second locking
Device 22 is locked using electromagnetic mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611116605.2A CN106825849A (en) | 2016-12-07 | 2016-12-07 | A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611116605.2A CN106825849A (en) | 2016-12-07 | 2016-12-07 | A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106825849A true CN106825849A (en) | 2017-06-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611116605.2A Pending CN106825849A (en) | 2016-12-07 | 2016-12-07 | A kind of servomotor for oxygen-acetylene cutting machine drives variable active degree linkage |
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| Country | Link |
|---|---|
| CN (1) | CN106825849A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
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2016
- 2016-12-07 CN CN201611116605.2A patent/CN106825849A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104074212A (en) * | 2014-06-27 | 2014-10-01 | 广西大学 | Multi-linkage mechanism with initiative metamorphic function |
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Application publication date: 20170613 |