CN109664265A - It is a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device - Google Patents
It is a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device Download PDFInfo
- Publication number
- CN109664265A CN109664265A CN201710959149.6A CN201710959149A CN109664265A CN 109664265 A CN109664265 A CN 109664265A CN 201710959149 A CN201710959149 A CN 201710959149A CN 109664265 A CN109664265 A CN 109664265A
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- China
- Prior art keywords
- driving lever
- driving
- lever
- large arm
- hinged
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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
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
It is a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device, comprising: pedestal, rotatable platform, telescoping mechanism, elevating mechanism, luffing mechanism and rotatable wrist, burning torch 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 fields, in particular to a kind of to be filled using Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical
It sets.
Background technique
Most of currently manufactured general oxygen-acetylene cutting manipulator of industry is driven for the cascaded structure joint type motor of open form
Dynamic manipulator, is mainly characterized in that driving motor is all mounted on each joint of manipulator, is driven by motor mechanical
The various movements of manipulator are realized in the rotation in each joint of hand.Due to the drive of the cascaded structure articulated robot of open form
Dynamic motor 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
It measures and 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 hand
The movement inertia of arm causes manipulator dynamic property to decline, while driving motor is all mounted on joint position and causes manipulator
Accumulated error is big, bearing capacity is small, structure is complicated, the degree of modularity is low.With the development of motor technology and mentioning for control technology
Height, parallel institution provide extensive development space for manipulator, by controlling motor-driven multiple freedom parallel mechanism not
Only big, flexible movements, the motion profile output of achievable complexity with working space, while the also low, maintenance with manufacturing cost
Maintain the advantages that simple.
Summary of the invention
Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device is used the purpose of the present invention is to provide a kind of, to overcome
Serial 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, this hair
The technical solution of bright offer is: a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device, comprising: pedestal 1 can be rotated
Platform 13, telescoping mechanism, elevating mechanism, luffing mechanism and rotatable wrist 11, burning torch 10 and driving device.Telescoping mechanism
It include: the first driving lever 2, second connecting rod 4 and the first large arm 8;One end of first driving lever 2 is articulated with rotatable platform 13
On, one end of second connecting rod 4 and the other end of the first driving lever 2 are hinged, and one end of the first large arm 8 is another with second connecting rod 4
End is hinged.Elevating mechanism includes the second driving lever 3, third connecting rod 5 and the second large arm 13;It cuts with scissors one end of second driving lever 3
It is connected 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
It is hinged with the other end of third connecting rod 5;Luffing mechanism includes: third driving lever 12 and pitch lever 6;Third driving lever 12
One end is articulated in rotatable platform 13, and one end of pitch lever 6 and the other end of third driving lever 12 are hinged, the pitch lever 6
Middle part and the middle part of the second large arm 13 are hinged, and the other end of pitch lever 6 is articulated with the middle part of the first large arm 8;Rotatable wrist connects
The top of bar 11 and the other end of the first large arm 8 are hinged, and lower part and the other end of the second large arm 13 are hinged.Driving device is three
A servo motor is connect with the first driving lever 2, the second driving lever 3 and third driving lever 12 respectively, respectively actively to first
Bar 2, the 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
It is a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device, comprising: pedestal 1, stretches at rotatable platform 13
Mechanism, 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 other end of the second driving lever 3 are hinged, and one end of the second large arm 13 and the other end of third connecting rod 5 are hinged;It bows
Facing upward 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 burning torch 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 use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device, it is characterised in that: including pedestal 1, rotatable platform
13, telescoping mechanism, elevating mechanism, luffing mechanism and rotatable wrist 11, burning torch 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, and second
One end of connecting rod 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 hinged.
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, which is articulated with, can be rotated
On 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 third connecting rod 5
The other end it is hinged;Luffing mechanism includes: third driving lever 12 and pitch lever 6;One end of third driving lever 12 is articulated with can
On 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 with it is second largest
The middle part of arm 13 is hinged, and 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 with
The other end of first large arm 8 is hinged, and lower part and the other end of the second large arm 13 are hinged.Driving device is three servo motors, point
It is not connect with the first driving lever 2, the second driving lever 3 and third driving lever 12, respectively to the first driving lever 2, the second driving lever 3
It is driven with third driving lever 12.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710959149.6A CN109664265A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710959149.6A CN109664265A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device |
Publications (1)
Publication Number | Publication Date |
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CN109664265A true CN109664265A (en) | 2019-04-23 |
Family
ID=66140198
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710959149.6A Withdrawn CN109664265A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use Three Degree Of Freedom multi-connecting-rod mechanism blanking mechanical device |
Country Status (1)
Country | Link |
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CN (1) | CN109664265A (en) |
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2017
- 2017-10-16 CN CN201710959149.6A patent/CN109664265A/en not_active Withdrawn
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Legal Events
Date | Code | Title | Description |
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PB01 | Publication | ||
PB01 | Publication | ||
WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190423 |
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WW01 | Invention patent application withdrawn after publication |