CN109604785A - A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism - Google Patents
A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism Download PDFInfo
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- CN109604785A CN109604785A CN201710925410.0A CN201710925410A CN109604785A CN 109604785 A CN109604785 A CN 109604785A CN 201710925410 A CN201710925410 A CN 201710925410A CN 109604785 A CN109604785 A CN 109604785A
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- China
- Prior art keywords
- driving lever
- driving
- large arm
- lever
- connecting rod
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Classifications
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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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism, comprising: pedestal, rotatable platform, telescoping mechanism, elevating mechanism, luffing mechanism and rotatable wrist, welding gun and driving device.Telescoping mechanism includes: the first driving lever, second connecting rod and the first large arm；Elevating mechanism includes the second driving lever, third connecting rod and the second large arm；Luffing mechanism includes: third driving lever and pitch lever；The top of rotatable wrist connecting rod and the other end of the first large arm are hinged, and lower part and the other end of the second large arm are hinged.Driving device is three servo motors, connect with the first driving lever, the second driving lever and third driving lever, drives respectively to the first driving lever, the second driving lever and third driving lever respectively.Whole driving motor of the present invention, which is all mounted on rotatable platform, carries out driving rigidity height to driving lever, and large carrying capacity, inertia are low, dynamic property is good, Robotic Manipulator Motion Trajectory flexible and diverse.
Description
Technical field
The present invention relates to mechanical engineering field, in particular to a kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism.
Background technique
Most of currently manufactured general arc welding manipulator of industry is the cascaded structure joint type motor driven machine for open form
Tool hand is mainly characterized in that driving motor is all mounted on each joint of manipulator, drives manipulator each by motor
The various movements 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 to carry the weight of motor simultaneously
Rigidity requirement need to be met, arm sectional dimension needs to be made larger, will increase the load of driving motor in this way, increase arm
Movement inertia causes manipulator dynamic property to decline, while driving motor is all mounted on the accumulation that joint position causes manipulator
Error is big, bearing capacity is small, structure is complicated, the degree of modularity is low.With the development of motor technology and the raising of control technology,
Parallel institution provides extensive development space for manipulator, is not only had by controlling motor-driven multiple freedom parallel mechanism
There are big working space, flexible movements, the motion profile output of achievable complexity, while the also low, maintenance with manufacturing cost
The advantages that simple.
Summary of the invention
The purpose of the present invention is to provide a kind of Three Degree Of Freedoms to use sealed joint form arc-welding machine mechanism, to overcome string
Connection manipulator accumulated error is big, and precision is lower；Rigidity is low, bearing capacity it is small the shortcomings that.To achieve the above object, of the invention
The technical solution of offer is: a kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism, comprising: pedestal 1, rotatable platform
13, telescoping mechanism, elevating mechanism, luffing mechanism and rotatable wrist 11, welding gun 10 and driving device.Telescoping mechanism includes:
First driving lever 2, second connecting rod 4 and the first large arm 8；One end of first driving lever 2 is articulated in rotatable platform 13, the
One end of two connecting rods 4 and the other end of the first driving lever 2 are hinged, and one end of the first large arm 8 and the other end of second connecting rod 4 are cut with scissors
It connects.Elevating mechanism includes the second driving lever 3, third connecting rod 5 and the second large arm 13；One end of second driving lever 3 is articulated with
In rotatable platform 13, one end of third connecting rod 5 and the other end of the second driving lever 3 are hinged, one end of the second large arm 13 and the
The other end of three-link 5 is hinged；Luffing mechanism includes: third driving lever 12 and pitch lever 6；One end of third driving lever 12
It is articulated in rotatable platform 13, one end of pitch lever 6 and the other end of third driving lever 12 are hinged, the middle part of the pitch lever 6
Hinged with the middle part of the second large arm 13, the other end of pitch lever 6 is articulated with the middle part of the first large arm 8；Rotatable wrist connecting rod 11
Top and the first large arm 8 the other end it is hinged, lower part and the other end of the second large arm 13 are hinged.Driving device is three and watches
Take motor, connect respectively with the first driving lever 2, the second driving lever 3 and third driving lever 12, respectively to the first driving lever 2,
Second driving lever 3 and third driving lever 12 are driven.
The present invention is mounted on rotatable platform using controllable more bar parallel institutions, whole driving motors to driving lever
It is driven, compared with Serial manipulator, reduces the movement inertia of arm, improve manipulator dynamic property, improve machine
Tool hand traveling comfort and reliability, no accumulated error is compact-sized, and rigidity is high, and large carrying capacity, inertia is low, dynamic
It can good, Robotic Manipulator Motion Trajectory flexible and diverse.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Specific embodiment
A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism, comprising: pedestal 1, rotatable platform 13, telescopic machine
Structure, elevating mechanism, luffing mechanism and rotatable wrist connecting rod 11.Telescoping mechanism includes: the first driving lever 2, second connecting rod 4
And first large arm 8；One end of first driving lever 2 is articulated in rotatable platform 13, and one end of second connecting rod 4 is main with first
The other end of lever 2 is hinged, and one end of the first large arm 8 and the other end of second connecting rod 4 are hinged.Elevating mechanism includes second main
Lever 3, third connecting rod 5 and the second large arm 13；One end of second driving lever 3 is articulated in rotatable platform 13, third connecting rod 5
One end and the second driving lever 3 the other end it is hinged, one end of the second large arm 13 and the other end of third connecting rod 5 are hinged；Pitching
Mechanism includes: third driving lever 12 and pitch lever 6；One end of third driving lever 12 is articulated in rotatable platform 13, is bowed
The one end for facing upward bar 6 and the other end of third driving lever 12 are hinged, and the middle part of the pitch lever 6 and the middle part of the second large arm 13 are hinged,
The other end of pitch lever 6 is articulated with the middle part of the first large arm 8；The top of rotatable wrist connecting rod 11 is another with the first large arm 8
End is hinged, and lower part and the other end of the second large arm 13 are hinged.Driving device be three servo motors, respectively with the first driving lever
2, the second driving lever 3 and third driving lever 12 connect, respectively to the first driving lever 2, the second driving lever 3 and third driving lever
12 are driven.
In use, cooperating realization is corresponding to act with luffing mechanism by telescoping mechanism, elevating mechanism.Such as when first
Driving lever 2 drives to the right, and the second driving lever 3 drives to the left, and third driving lever 12 drives to the right, it can be achieved that bending down movement: when
One driving lever 2 drives to the left, and the second driving lever 3 drives to the right, and third driving lever 12 drives to the left, it can be achieved that movement of steeving；When
First driving lever 2 drives to the left, and the second driving lever 3 drives to the left, and third driving lever 12 drives, it can be achieved that lifting action to the left.
The movement of wrist connecting rod 11 drives the movement of welding gun 10.
The present invention is mounted on rotatable platform using controllable more bar parallel institutions, whole driving motors to driving lever
It is driven, compared with Serial manipulator, reduces the movement inertia of arm, improve manipulator dynamic property, improve machine
Tool hand traveling comfort and reliability, no accumulated error is compact-sized, and rigidity is high, and large carrying capacity, inertia is low, dynamic
It can good, Robotic Manipulator Motion Trajectory flexible and diverse.
Claims (1)
1. a kind of Three Degree Of Freedom use sealed joint form arc-welding machine mechanism, it is characterised in that: including pedestal 1, rotatable platform 13,
Telescoping mechanism, elevating mechanism, luffing mechanism and rotatable wrist 11, welding gun 10 and driving device.Telescoping mechanism includes: first
Driving lever 2, second connecting rod 4 and the first large arm 8；One end of first driving lever 2 is articulated in rotatable platform 13, second connecting rod
4 one end and the other end of the first driving lever 2 are hinged, and one end of the first large arm 8 and the other end of second connecting rod 4 are hinged.Lifting
Mechanism includes the second driving lever 3, third connecting rod 5 and the second large arm 13；One end of second driving lever 3 is articulated with rotatable platform
On 13, one end of third connecting rod 5 and the other end of the second driving lever 3 are hinged, and one end of the second large arm 13 is another with third connecting rod 5
One end is hinged；Luffing mechanism includes: third driving lever 12 and pitch lever 6；One end of third driving lever 12, which is articulated with, can be rotated
On platform 13, one end of pitch lever 6 and the other end of third driving lever 12 are hinged, the middle part of the pitch lever 6 and the second large arm 13
Middle part it is hinged, the other end of pitch lever 6 is articulated with the middle part of the first large arm 8；The top and first of rotatable wrist connecting rod 11
The other end of large arm 8 is hinged, and lower part and the other end of the second large arm 13 are hinged.Driving device be three servo motors, respectively with
First driving lever 2, the second driving lever 3 and third driving lever 12 connect, respectively to the first driving lever 2, the second driving lever 3 and the
Three driving levers 12 are driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925410.0A CN109604785A (en) | 2017-10-04 | 2017-10-04 | A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925410.0A CN109604785A (en) | 2017-10-04 | 2017-10-04 | A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109604785A true CN109604785A (en) | 2019-04-12 |
Family
ID=66001474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925410.0A Withdrawn CN109604785A (en) | 2017-10-04 | 2017-10-04 | A kind of Three Degree Of Freedom uses sealed joint form arc-welding machine mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109604785A (en) |
-
2017
- 2017-10-04 CN CN201710925410.0A patent/CN109604785A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |
|
| WW01 | Invention patent application withdrawn after publication |