CN109604885A - A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism - Google Patents
A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism Download PDFInfo
- Publication number
- CN109604885A CN109604885A CN201710925432.7A CN201710925432A CN109604885A CN 109604885 A CN109604885 A CN 109604885A CN 201710925432 A CN201710925432 A CN 201710925432A CN 109604885 A CN109604885 A CN 109604885A
- Authority
- CN
- China
- Prior art keywords
- forearm
- connecting rod
- drive rod
- drive
- arm link
- 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.)
- Withdrawn
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
- 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
-
- 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
Abstract
A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, welding gun, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod; the forearm other end is connect with small arm link one end, and small arm link is connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal; electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod.Two motors are mounted on workbench by the present invention, it is big to overcome cascaded structure articulated robot rotary inertia, dynamic performance is poor, the disadvantage that structure is complicated, the degree of modularity is low, the advantages of combining constant speed motor and servo motor has the advantages that be easy to control, be quick on the draw, to manufacture maintenance cost low.
Description
Technical field
The present invention relates to mechanical engineering fields, more particularly to a kind of combination drive multiple degrees of freedom using closing chain structure shape
Formula mash welder mechanism.
Background technique
Most of currently manufactured general mash welder tool hand 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, increases the fortune of arm
Dynamic inertia, causes manipulator dynamic property to decline, while driving motor is all mounted on joint position and the accumulation of manipulator is caused to miss
Difference is big, bearing capacity is small, structure is 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, not only has work by controlling motor-driven multiple freedom parallel mechanism
Space is big, flexible movements, the motion profile output of achievable complexity, at the same also have manufacturing cost is low, maintenance simply etc.
Advantage.
Hybrid Input Five―bar Mechanism is driven using two kinds of motors (constant speed motor and servo motor) of different nature, in machinery
There is a good compromise that it is controllable, adjustable to be well positioned to meet modern mechanical to adapt to working flexibility feature in performance and cost
It is required that combination drive manipulator has very big application space in the epoch of flexible production.
Summary of the invention
It is an object of the invention to solve the driving motor of cascaded structure joint type spot welding manipulator to be all mounted on joint
Position leads to the problem of manipulator rotary inertia is big, dynamic property decline, and accumulated error is big, and bearing capacity is small, structure is complicated.
Above functions that the invention is realized by the following technical scheme: a kind of combination drive multiple degrees of freedom uses the spot welding of sealed joint structure type
Machine mechanism, it is characterised in that: including large arm, big arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electronic
Push rod, wrist connecting rod, wrist, welding gun, pedestal, rotatable platform and servo drive；Forearm one end is connected to wrist connecting rod
On, the forearm other end is connect with small arm link one end, and small arm link is connect with forearm drive rod one end, the forearm drive rod other end
It is connected on pedestal, electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod, wrist connecting rod
One end is connected on forearm, and described big arm link one end is connected in the middle part of large arm, the big arm link other end and large arm drive rod one
End connection, the large arm drive rod other end are connected on rotatable platform, and servo drive includes first servo motor and second
Servo motor, first servo motor are connect with large arm drive rod, and the second servo motor is connect with forearm drive rod.
The invention discloses a kind of combination drive multiple degrees of freedoms to use sealed joint structure type mash welder mechanism, by two electricity
Machine is mounted on workbench, is used to control the angular dimension of wrist pitching using an electric pushrod, and two motors are pacified
On workbench, overcome that cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, structure is complicated, mould
The low disadvantage of block degree, the advantages of combining constant speed motor and servo motor, have and are easy to control, are quick on the draw, manufacturing dimension
Repair advantage at low cost.
Detailed description of the invention
Fig. 1 is the mechanism that a kind of combination drive multiple degrees of freedom of the present invention uses sealed joint structure type mash welder mechanism
Schematic diagram.
Specific embodiment
A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism, including large arm 6, big arm link 4,
Large arm drive rod 5, forearm 7, small arm link 8, forearm drive rod 9, electric pushrod 3, wrist connecting rod 11, wrist 12, welding gun 10, bottom
Seat 2, rotatable platform 1 and servo drive, 7 one end of forearm are connected on wrist connecting rod 11, and 7 other end of forearm and forearm connect
The connection of 8 one end of bar, small arm link 8 are connect with 9 one end of forearm drive rod, and 9 other end of forearm drive rod is connected on pedestal 2, electricity
Dynamic 3 one end of push rod is connected on forearm 7, and 3 other end of electric pushrod is connected on wrist connecting rod 11, the connection of 11 one end of wrist connecting rod
On forearm 7, described big 4 one end of arm link is connected in large arm 6, and big 4 other end of arm link and 5 one end of large arm drive rod connect
It connects, 5 other end of large arm drive rod is connected on rotatable platform 1, and servo drive includes that first servo motor and second are watched
Motor is taken, first servo motor is connect with large arm drive rod 5, and the second servo motor is connect with forearm drive rod 9.
In use, the large arm drive rod 5 is controlled by first servo motor, forearm drive rod 9 is driven by the second servo motor
Dynamic, the electric pushrod 3 is controlled by a direct current constant-seed motor in itself.By in servo drive motor and electric pushrod
Corresponding movement is realized in the combination drive cooperation of constant speed direct current generator, passes through turning for two servo motors to servo drive
The track abundant movement of welding gun flexible and diverse is realized in the control of the telescopic displacement of angle control and electric pushrod.
A kind of nine connecting rod closed linkage spot welding manipulators, including pedestal, rotatable platform, telescoping mechanism, luffing mechanism, liter
Descending mechanism, can be rotated wrist and driving device at welding gun；Telescoping mechanism includes: the first driving lever, the second driving lever, large arm,
One end of one connecting rod and second connecting rod, the first driving lever is articulated in rotatable platform, and one end of the second driving lever is articulated with
In rotatable platform, one end of large arm and the other end of the first driving lever are hinged, one end of first connecting rod and the other end of large arm
Hingedly, second connecting rod is in bending, and one end of second connecting rod and the other end of the second driving lever are hinged, the other end of second connecting rod
It is articulated with the middle part of first connecting rod；Luffing mechanism includes pitch lever and wrist connecting rod, one end of pitch lever and first connecting rod
The other end is hinged, and the top of wrist connecting rod and the other end of pitch lever are hinged；Elevating mechanism includes third driving lever and lifting
One end of bar, third driving lever is articulated in rotatable platform, and one end of elevating lever is articulated on the lever arm of second connecting rod, lifting
Bar is in bending, and the other end of third driving lever is articulated in the middle part of the lever arm of elevating lever, the other end and wrist connecting rod of elevating lever
Lower hinge；Driving device is three servo motors, and servo motor is mounted on rotatable platform, respectively actively with first
Bar, the second driving lever and the connection of third driving lever are each responsible for driving the first driving lever, second to drive corresponding rotation
The swing of driving lever and third driving lever.
Controllable drive motor is mounted on revolving platform by the present invention, simplifies the complexity of structure, reducing mechanism
Each connecting rod rod piece is made into lighter bar by weight, volume and cost, mechanical arm of the invention, so that entire mechanism kinematic inertia
Small, dynamic performance is good, easily controllable, by the way that revolving platform, the revolution working space for making mechanical arm possess 360 degree, work is arranged
It is big to make spatial dimension.
Claims (1)
1. a kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism, it is characterised in that: including large arm, greatly
Arm link, large arm drive rod, forearm, small arm link, forearm drive rod, electric pushrod, wrist connecting rod, wrist, welding gun, pedestal,
Rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end and small arm link one end connect
It connects, small arm link is connect with forearm drive rod one end, and the forearm drive rod other end is connected on pedestal, the connection of electric pushrod one end
On forearm, the electric pushrod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, the big arm link
One end is connected in the middle part of large arm, and the big arm link other end is connect with large arm drive rod one end, and the large arm drive rod other end is connected to
On rotatable platform, servo drive includes first servo motor and the second servo motor, and first servo motor and large arm are driven
Lever connection, the second servo motor are connect with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925432.7A CN109604885A (en) | 2017-10-04 | 2017-10-04 | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710925432.7A CN109604885A (en) | 2017-10-04 | 2017-10-04 | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109604885A true CN109604885A (en) | 2019-04-12 |
Family
ID=66001450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710925432.7A Withdrawn CN109604885A (en) | 2017-10-04 | 2017-10-04 | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109604885A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296487A (en) * | 2020-10-25 | 2021-02-02 | 苏州威尔汉姆堆焊技术有限公司 | Welding system comprising feeding mechanism |
| CN112296591A (en) * | 2020-10-25 | 2021-02-02 | 苏州威尔汉姆堆焊技术有限公司 | Support rotating device for in-pipe welding |
-
2017
- 2017-10-04 CN CN201710925432.7A patent/CN109604885A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112296487A (en) * | 2020-10-25 | 2021-02-02 | 苏州威尔汉姆堆焊技术有限公司 | Welding system comprising feeding mechanism |
| CN112296591A (en) * | 2020-10-25 | 2021-02-02 | 苏州威尔汉姆堆焊技术有限公司 | Support rotating device for in-pipe welding |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109604885A (en) | A kind of combination drive multiple degrees of freedom uses sealed joint structure type mash welder mechanism | |
| CN106956251A (en) | A kind of nine connecting rod closed linkage spot welding manipulators | |
| CN107414363A (en) | A kind of combination drive multiple degrees of freedom spot welding manipulator | |
| CN109664288A (en) | It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device | |
| CN109664266A (en) | It is a kind of to close chain structure blanking Work machine device using nine connecting rods | |
| CN107020621A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN106945025A (en) | A kind of combination drive multiple degrees of freedom assembly manipulator | |
| CN109605322A (en) | It is a kind of to use the more bar spraying operation special mechanisms of sealed joint structure type | |
| CN107030683A (en) | A kind of many bar closed linkage make-up machinery arms | |
| CN109590984A (en) | A kind of combination drive multiple degrees of freedom closed linkage assembly manipulator | |
| CN109604882A (en) | A kind of nine rod piece mechanism of sealed joint structure type for stitch welding machine | |
| CN106985135A (en) | A kind of combination drive assembly manipulator in parallel | |
| CN109605326A (en) | It is a kind of to use closing chain structure combination drive multiple degrees of freedom spray coating mechanical device | |
| CN109604093A (en) | It is a kind of to use closing chain mechanism combination drive parallel connection automatic spraying operating mechanical device | |
| CN106607932A (en) | Multi-rod closed chain structure mechanical arm for gas cutting blanking operation | |
| CN109604094A (en) | It is a kind of to use closing chain structure multi link spray coating mechanical device | |
| CN109605351A (en) | A kind of combination drive multiple degrees of freedom uses closed linkage feed automatic stacking machinery device | |
| CN109664287A (en) | It is a kind of to use combination drive closed chain mechanism Dual Action degree blanking mechanical device | |
| CN109605352A (en) | It is a kind of to use closed linkage form Three Degree Of Freedom automatic spray coating mechanism | |
| CN109604880A (en) | A kind of combination drive sealed joint Duo Gan stitch welding machine mechanism | |
| CN109604884A (en) | It is a kind of to use sealed joint structure type more rod piece stitch welding machines mechanism | |
| CN109590138A (en) | It is a kind of to use closed linkage multi link automatic spraying mechanical arm | |
| CN109590696A (en) | It is a kind of to use closed linkage multi link make-up machinery arm | |
| CN109605353A (en) | It is a kind of to use nine connecting rod automatic spraying operating mechanical device of closed linkage form | |
| CN108081238A (en) | A kind of two-freedom closed linkage make-up machinery arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190412 |