CN108115323A - It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor - Google Patents
It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor Download PDFInfo
- Publication number
- CN108115323A CN108115323A CN201611063002.0A CN201611063002A CN108115323A CN 108115323 A CN108115323 A CN 108115323A CN 201611063002 A CN201611063002 A CN 201611063002A CN 108115323 A CN108115323 A CN 108115323A
- Authority
- CN
- China
- Prior art keywords
- driving lever
- servomotor
- revolute pair
- arm
- connecting rod
- 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
- 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
- B23K37/0252—Steering means
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
Abstract
It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor, including pedestal 10, the first driving lever 1, the second driving lever 2, the 3rd driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8, wrist 27, welding gun 28 and servo drive, described 7 one end of connector is connected by the 8th revolute pair 19 with the 5th connecting rod 6, and one end is connected with large arm 4；Servo drive includes the first servomotor, the second servomotor, the 3rd servomotor, it is connected to drive its rotation with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 respectively, the movements such as large arm lifting and the pitching of wrist 20 are completed in driving jointly for first driving lever 1, the second driving lever 2 and the 3rd driving lever 3, realize the weld job of welding gun 8, the present invention, which is installed on using motor on pedestal, replaces original motor to be installed on the serial mechanism on mechanical arm, it is big to overcome original mechanism arm weight, the shortcomings of bad dynamic performance.
Description
Technical field
It is particularly a kind of using servomotor driving Three-freedom-degree connection rod mechanism electroplating equipment wielding machine the present invention relates to machinery field
Arm.
Background technology
Over the years, since 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 mechanical and fluid pressure type two types, at present most of electroplating equipment wielding machine arm
It is hydraulic-driven, since hydraulic drive is using medium of the hydraulic oil as passing power, has the following problems：Its startability compared with
Difference, easily because generating leakage after internal element abrasion, and the hydraulic oil leaked pollutes the environment；Hydraulic oil is affected by temperature
Larger, gross efficiency is relatively low, there is noise and vibration sometimes.It sometimes appear that overheat, phenomena such as powerless in work；Hydraulic Elements processing essence
It is high to spend requirement, matching requirements are stringent, and manufacture is more difficult, are maintained in use and require technology higher, difficulty is larger.With weldering
The increase of mechanical arm function is connect, hydraulic system becomes increasingly complex, and breaks down with more sudden, concealment.Mechanical weldering
It is to realize that welding acts using mechanical transmissioning piece to connect mechanical arm, has many advantages, such as sturdy and durable, but traditional single-degree-of-freedom machine
Tool formula electroplating equipment wielding machine arm cannot complete complicated action, and application range is extremely limited, the mechanical electronic electroplating equipment wielding machine of controllable mechanism
Arm, with linkage instead of hydraulic drive, when driving lever is driven by servomotor, automation easy to implement, NC postprocessing control
System, solves some shortcomings existing for hydraulic system.
The content of the invention
It is an object of the invention to provide a kind of using servomotor driving Three-freedom-degree connection rod mechanism novel welding machinery
Arm, overcomes open chain at the shortcomings of overcoming high fluid pressure type electroplating equipment wielding machine arm hydraulic system element required precision, complicated, easy oil leakage
The shortcomings that driving motor of structure is required for being mounted on joint position simplifies the complexity of structure, weight, the fortune of reducing mechanism
Dynamic inertia, volume and cost.To achieve the above object, the present invention provides a kind of using servomotor driving Three-freedom-degree connection rod machine
Structure electroplating equipment wielding machine arm connects including pedestal 10, the first driving lever 1, the second driving lever 2, the 3rd driving lever 3, fourth link the 5, the 5th
Bar 6, connector 7, large arm 4, upper arm 8, wrist 27, welding gun 28 and servo drive, described first driving lever, 1 one end pass through
First revolute pair 12 is connected with pedestal 10, and the other end is connected by the second revolute pair 13 with large arm 4；Second driving lever 2 one
End is connected by the 3rd revolute pair 14 with pedestal 10, and the other end is connected by the 4th revolute pair 15 with fourth link 5, fourth link
5 other ends are connected by the 5th revolute pair 16 with connector 7；Described 3rd driving lever, 3 one end passes through the 6th revolute pair 17 and bottom
Seat 10 connects, and the other end is connected by the 7th revolute pair 18 with the 5th connecting rod 6；Described 7 one end of connector passes through the 8th revolute pair
19 are connected with the 5th connecting rod 6, and one end is connected by the 9th revolute pair 20 with upper arm 8, and one end passes through the 5th revolute pair 16 and large arm 4
Connection；Described 9 one end of wrist connecting rod is connected by the tenth revolute pair 21 with large arm 4, the other end by the 11st revolute pair with
Upper arm 8 connects；Servo drive includes the first servomotor, the second servomotor, the 3rd servomotor, is led respectively with first
Lever 1, the second driving lever 2 and the 3rd driving lever 3 connect to drive its rotation, the first driving lever 1, the second driving lever 2 and the 3rd
The movements such as large arm lifting and the pitching of wrist 20 are completed in driving to driving lever 3 jointly, realize the weld job of welding gun 8
Using controllable more bar closed chain mechanisms, the driving motor for overcoming open-chain structure is required for being mounted on joint position the present invention
The shortcomings that putting, improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher；Compact-sized, 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 the shortcomings such as system element required precision is high, complicated, easy oil leakage, poor reliability, transmission efficiency are low.
Description of the drawings
Fig. 1 drives Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm mechanism to show for a kind of use servomotor of the present invention
It is intended to.
Specific embodiment
It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor, including pedestal 10, the first driving lever
1st, the second driving lever 2, the 3rd driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8, wrist 27, welding gun
28 and servo drive；The pedestal 10 is mounted on removable revolving platform；Described first driving lever, 1 one end passes through
One revolute pair 12 is connected with pedestal 10, and the other end is connected by the second revolute pair 13 with large arm 4；Compares figure 1, described second actively
2 one end of bar is connected by the 3rd revolute pair 14 with pedestal 10, and the other end is connected by the 4th revolute pair 15 with fourth link 5, the
5 other end of double leval jib is connected by the 5th revolute pair 16 with connector 7；Described 3rd driving lever, 3 one end passes through the 6th revolute pair
17 are connected with pedestal 10, and the other end is connected by the 7th revolute pair 18 with the 5th connecting rod 6；Described 7 one end of connector passes through the 8th
Revolute pair 19 is connected with the 5th connecting rod 6, and one end is connected by the 9th revolute pair 20 with upper arm 8, and one end passes through the 5th revolute pair 16
It is connected with large arm 4；Described 9 one end of wrist connecting rod is connected by the tenth revolute pair 21 with large arm 4, and the other end passes through the 11st turn
Dynamic pair is connected with upper arm 8；Servo drive include the first servomotor, the second servomotor, the 3rd servomotor, respectively with
First driving lever 1, the second driving lever 2 and the 3rd driving lever 3 connect to drive its rotation, the first driving lever 1, the second driving lever 2
The movements such as large arm lifting and the pitching of wrist 20 are completed in driving jointly with the 3rd driving lever 3, realize the weld job of welding gun 8.
In wrist connecting rod pitching operating mode, the 3rd driving lever 3 rotates around the 6th revolute pair 17 and passes through the 7th revolute pair 18
The 5th connecting rod 6 is driven, for the 5th connecting rod 6 by the 8th revolute pair 19 with follower link 7, connector 7 passes through 20 band of the 9th revolute pair
Dynamic upper arm 8, upper arm 8 drives wrist connecting rod 9 by the 11st revolute pair 22, so that wrist connecting rod 9 is around the tenth revolute pair 21
Pitching.Lift in operating mode, the first driving lever 1, large arm 4, the second driving lever 2, fourth link 5 collective effect under so that wrist
Connecting rod 7 lifts.
Claims (1)
- It is 1. a kind of using servomotor driving Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm, it is characterised in that including：Pedestal 10, One driving lever 1, the second driving lever 2, the 3rd driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8, hand Wrist 27, welding gun 28 and servo drive, the pedestal 10 are mounted on removable revolving platform；First driving lever 1 One end is connected by the first revolute pair 12 with pedestal 10, and the other end is connected by the second revolute pair 13 with large arm 4；Second master 2 one end of lever is connected by the 3rd revolute pair 14 with pedestal 10, and the other end is connected by the 4th revolute pair 15 with fourth link 5, 5 other end of fourth link is connected by the 5th revolute pair 16 with connector 7；Described 3rd driving lever, 3 one end is rotated by the 6th Pair 17 is connected with pedestal 10, and the other end is connected by the 7th revolute pair 18 with the 5th connecting rod 6；Described 7 one end of connector passes through Eight revolute pairs 19 are connected with the 5th connecting rod 6, and one end is connected by the 9th revolute pair 20 with upper arm 8, and one end passes through the 5th revolute pair 16 are connected with large arm 4；Described 9 one end of wrist connecting rod is connected by the tenth revolute pair 21 with large arm 4, and the other end passes through the 11st Revolute pair is connected with upper arm 8；Servo drive includes the first servomotor, the second servomotor, the 3rd servomotor, respectively It is connected to drive its rotation, the first driving lever 1, the second driving lever with the first driving lever 1, the second driving lever 2 and the 3rd driving lever 3 2 and the 3rd driving lever 3 jointly driving complete the movements such as large arm lifting and the pitching of wrist 20, realize the weld job of welding gun 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063002.0A CN108115323A (en) | 2016-11-28 | 2016-11-28 | It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611063002.0A CN108115323A (en) | 2016-11-28 | 2016-11-28 | It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115323A true CN108115323A (en) | 2018-06-05 |
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ID=62223932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611063002.0A Pending CN108115323A (en) | 2016-11-28 | 2016-11-28 | It is a kind of that Three-freedom-degree connection rod mechanism electroplating equipment wielding machine arm is driven using servomotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115323A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
-
2016
- 2016-11-28 CN CN201611063002.0A patent/CN108115323A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608116A (en) * | 2014-12-17 | 2015-05-13 | 广西大学 | Mobile mechanical arm with seven-connecting-rod five-freedom-degree controllable mechanism |
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Application publication date: 20180605 |
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