CN108161170A - A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine - Google Patents
A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine Download PDFInfo
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- CN108161170A CN108161170A CN201611117382.1A CN201611117382A CN108161170A CN 108161170 A CN108161170 A CN 108161170A CN 201611117382 A CN201611117382 A CN 201611117382A CN 108161170 A CN108161170 A CN 108161170A
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- driving lever
- connect
- revolute pair
- servo motor
- driving
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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
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine, including pedestal 10, the first driving lever 1, the second driving lever 2, third driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8, clamper 27, burning torch 28 and servo drive, described 7 one end of connector is connect by the 8th revolute pair 19 with the 5th connecting rod 6, and one end is connect with large arm 4；Servo drive includes the first servo motor, the second servo motor, third servo motor, it connect to drive its rotation with the first driving lever 1, the second driving lever 2 and third driving lever 3 respectively, the movements such as large arm lifting and the pitching of clamper 20 are completed in driving jointly for first driving lever 1, the second driving lever 2 and third driving lever 3, realize the oxygen-acetylene cutting operation of burning torch 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
The present invention relates to machinery field, particularly a kind of servo motor for novel oxygen-acetylene cutting machine drives Three Degree Of Freedom
Link 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 is mainly characterized in that driving motor all on each joint of manipulator, drives manipulator each by motor
The various actions of manipulator are realized in the rotation in a joint.Due to the driving electricity of the cascaded structure articulated robot of open form
Machine is all mounted on the position in joint, and this frame mode has the following problems：Manipulator arm needs the weight of carrying motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, can increase the load of driving motor in this way, increase the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor all causes the accumulation of manipulator to miss mounted on joint position
Difference is big, bearing capacity is small, complicated, the degree of modularity is low.It is in parallel with the development of motor technology and the raising of control technology
Mechanism provides extensive development space for manipulator, by motor-driven multiple freedom parallel mechanism is controlled not only to have work
Space is big, flexible movements, can complete complicated movement locus output, while also have and manufacture at low cost, maintaining is simple etc.
Advantage.
Invention content
The purpose of the present invention is to provide a kind of using the novel oxygen-acetylene cutting of servo motor driving Three-freedom-degree connection rod mechanism
Machine, overcomes open chain at the shortcomings of overcoming requirement high, the complicated, easy oil leakage of fluid pressure type oxygen-acetylene cutting machine hydraulic system components accuracy
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 servo motor for novel oxygen-acetylene cutting machine and drives
Dynamic Three-freedom-degree connection rod mechanism, including pedestal 10, the first driving lever 1, the second driving lever 2, third driving lever 3, fourth link 5,
5th connecting rod 6, connector 7, large arm 4, upper arm 8, clamper 27, burning torch 28 and servo drive, first driving lever 1
One end is connect by the first revolute pair 12 with pedestal 10, and the other end is connect by the second revolute pair 13 with large arm 4；Described second
2 one end of driving lever is connect by third revolute pair 14 with pedestal 10, and the other end is connected by the 4th revolute pair 15 with fourth link 5
It connects, 5 other end of fourth link is connect by the 5th revolute pair 16 with connector 7；Described 3 one end of third driving lever passes through the 6th turn
Dynamic pair 17 is connect with pedestal 10, and the other end is connect by the 7th revolute pair 18 with the 5th connecting rod 6；Described 7 one end of connector passes through
8th revolute pair 19 is connect with the 5th connecting rod 6, and one end is connect by the 9th revolute pair 20 with upper arm 8, and one end passes through the 5th rotation
Pair 16 is connect with large arm 4；Described 9 one end of clamper connecting rod is connect by the tenth revolute pair 21 with large arm 4, and the other end passes through the tenth
One 22 revolute pairs are connect with upper arm 8；Servo drive includes the first servo motor, the second servo motor, third servo motor,
It connect to drive its rotation, the first driving lever 1, second master with the first driving lever 1, the second driving lever 2 and third driving lever 3 respectively
The movements such as large arm lifting and the pitching of clamper 20 are completed in driving jointly for lever 2 and third driving lever 3, realize the gas cutting of burning torch 8
Blanking operation
Using controllable more bar closed chain mechanisms, the driving motor for overcoming open-chain structure is required for mounted on joint position the present invention
Shortcoming, improves the stationarity and reliability of arm operation, no accumulated error, and precision is higher；Compact-sized, rigidity is high, carrying
Ability is big, inertia is low, dynamic property is good, arm motion track flexible and diverse, overcomes fluid pressure type oxygen-acetylene cutting machine hydraulic pressure system
The shortcomings such as high, the complicated, easy oil leakage of components accuracy of uniting requirement, poor reliability, transmission efficiency be low.
Description of the drawings
Fig. 1 is that a kind of servo motor for novel oxygen-acetylene cutting machine of the present invention drives Three-freedom-degree connection rod mechanism
Structural scheme of mechanism.
Specific embodiment
A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine, including pedestal 10, first
Driving lever 1, the second driving lever 2, third driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, upper arm 8, clamping
Device 27, burning torch 28 and servo drive；The pedestal 10 is mounted on removable revolving platform；First driving lever 1
One end is connect by the first revolute pair 12 with pedestal 10, and the other end is connect by the second revolute pair 13 with large arm 4；Compares figure 1, institute
It states 2 one end of the second driving lever to connect with pedestal 10 by third revolute pair 14, the other end is connected by the 4th revolute pair 15 and the 4th
Bar 5 connects, and 5 other end of fourth link is connect by the 5th revolute pair 16 with connector 7；Described 3 one end of third driving lever passes through
6th revolute pair 17 is connect with pedestal 10, and the other end is connect by the 7th revolute pair 18 with the 5th connecting rod 6；The connector 7 one
End is connect by the 8th revolute pair 19 with the 5th connecting rod 6, and one end is connect by the 9th revolute pair 20 with upper arm 8, and one end passes through the
Five revolute pairs 16 are connect with large arm 4；Described 9 one end of clamper connecting rod is connect by the tenth revolute pair 21 with large arm 4, and the other end leads to
The 11st revolute pair is crossed to connect with upper arm 8；Servo drive includes the first servo motor, the second servo motor, third and watches
Motor is taken, connect to drive its rotation, the first driving lever respectively with the first driving lever 1, the second driving lever 2 and third driving lever 3
1st, the movements such as large arm lifting and the pitching of clamper 20 are completed in driving jointly for the second driving lever 2 and third driving lever 3, realize burning torch
8 oxygen-acetylene cutting operation.
In clamper connecting rod pitching operating mode, third driving lever 3 rotates around the 6th revolute pair 17 and passes through the 7th revolute pair
18 drive the 5th connecting rod 6, and for the 5th connecting rod 6 by the 8th revolute pair 19 with follower link 7, connector 7 passes through the 9th revolute pair 20
Upper arm 8 is driven, upper arm 8 drives clamper connecting rod 9 by the 11st revolute pair 22, so that clamper connecting rod 9 is around the tenth turn
21 pitching of dynamic pair.Lift operating mode in, the first driving lever 1, large arm 4, the second driving lever 2, fourth link 5 collective effect under make
Clamper connecting rod 7 is obtained to lift.
Claims (1)
1. a kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine, it is characterised in that including：Bottom
Seat the 10, first driving lever 1, the second driving lever 2, third driving lever 3, fourth link 5, the 5th connecting rod 6, connector 7, large arm 4, on
Arm 8, clamper 27, burning torch 28 and servo drive, the pedestal 10 are mounted on removable revolving platform；Described
One driving lever, 1 one end is connect by the first revolute pair 12 with pedestal 10, and the other end is connect by the second revolute pair 13 with large arm 4；
Described second driving lever, 2 one end is connect by third revolute pair 14 with pedestal 10, and the other end passes through the 4th revolute pair 15 and the 4th
Connecting rod 5 connects, and 5 other end of fourth link is connect by the 5th revolute pair 16 with connector 7；Described 3 one end of third driving lever leads to
It crosses the 6th revolute pair 17 to connect with pedestal 10, the other end is connect by the 7th revolute pair 18 with the 5th connecting rod 6；The connector 7
One end is connect by the 8th revolute pair 19 with the 5th connecting rod 6, and one end is connect by the 9th revolute pair 20 with upper arm 8, and one end passes through
5th revolute pair 16 is connect with large arm 4；Described 9 one end of clamper connecting rod is connect by the tenth revolute pair 21 with large arm 4, the other end
It is connect by the 11st revolute pair with upper arm 8；Servo drive includes the first servo motor, the second servo motor, third
Servo motor is connect respectively with the first driving lever 1, the second driving lever 2 and third driving lever 3 to drive its rotation, and first actively
The lifting of driving completion large arm is cut with movements, realizations such as the pitching of clamper 20 jointly for bar 1, the second driving lever 2 and third driving lever 3
The oxygen-acetylene cutting operation of rifle 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117382.1A CN108161170A (en) | 2016-12-07 | 2016-12-07 | A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117382.1A CN108161170A (en) | 2016-12-07 | 2016-12-07 | A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161170A true CN108161170A (en) | 2018-06-15 |
Family
ID=62526779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611117382.1A Pending CN108161170A (en) | 2016-12-07 | 2016-12-07 | A kind of servo motor driving Three-freedom-degree connection rod mechanism for novel oxygen-acetylene cutting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108161170A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1183070A (en) * | 1997-09-01 | 1999-03-26 | Daikin Ind Ltd | Fan guard device |
| CN104229220A (en) * | 2014-08-20 | 2014-12-24 | 河北汇金机电股份有限公司 | L-shaped sealing mechanism in plastic packaging integrated machine for banknotes |
| CN104294867A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods |
| CN104532887A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom controllable connecting rod mobile type loading mechanism |
| 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
- 2016-12-07 CN CN201611117382.1A patent/CN108161170A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1183070A (en) * | 1997-09-01 | 1999-03-26 | Daikin Ind Ltd | Fan guard device |
| CN104229220A (en) * | 2014-08-20 | 2014-12-24 | 河北汇金机电股份有限公司 | L-shaped sealing mechanism in plastic packaging integrated machine for banknotes |
| CN104294867A (en) * | 2014-11-11 | 2015-01-21 | 广西大学 | Loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods |
| CN104532887A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom controllable connecting rod mobile type loading mechanism |
| 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: 20180615 |
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