CN109664284A - It is a kind of to use more rod seal chain structure blanking Work machine devices - Google Patents
It is a kind of to use more rod seal chain structure blanking Work machine devices Download PDFInfo
- Publication number
- CN109664284A CN109664284A CN201710959155.1A CN201710959155A CN109664284A CN 109664284 A CN109664284 A CN 109664284A CN 201710959155 A CN201710959155 A CN 201710959155A CN 109664284 A CN109664284 A CN 109664284A
- Authority
- CN
- China
- Prior art keywords
- lever
- driving lever
- connecting rod
- driving
- hinged
- 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- Withdrawn
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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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
More rod seal chain structure blanking Work machine devices are used the present invention provides a kind of, comprising: pedestal, rotatable platform, telescoping mechanism, elevating mechanism, luffing mechanism, burning torch, wrist and driving device；Telescoping mechanism includes the first driving lever and large arm；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；Luffing mechanism includes: third driving lever and pitch lever；Driving device includes three servo motors, and three servo motors are connected with the first driving lever, the second driving lever and third driving lever respectively.The present invention is using controllable more bar parallel institutions, compared with Serial manipulator, improves manipulator traveling comfort and reliability, no accumulated error, and precision is higher；Compact-sized, rigidity is high, 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 more rod seal chain structure blanking Work machines
It sets.
Background technique
Most of currently manufactured general oxygen-acetylene cutting mechanical arm of industry is driven for the cascaded structure joint type motor of open form
Dynamic mechanical arm, is mainly characterized in that driving motor is all mounted on each joint of mechanical arm, is driven by motor mechanical
The various movements of mechanical arm are realized in the rotation in each joint of arm, and this frame mode has the following problems: mechanical arm arm needs
It carries the weight of motor and rigidity requirement need to be met, arm sectional dimension needs to be made larger, will increase driving motor in this way
Load, increases the movement inertia of arm, causes mechanical arm dynamic property to decline, while driving motor is all mounted on joint position and makes
At the accumulated error of mechanical arm is big, bearing capacity is small, structure is complicated, the degree of modularity is low.With the development and control of motor technology
The raising of technology processed, parallel institution provide extensive development space for mechanical arm.By controlling motor-driven multiple degrees of freedom simultaneously
Online structure not only has big working space, flexible movements, the motion profile output of achievable complexity, while also having manufacturing cost
Low, the advantages that maintenance is simple.
Summary of the invention
It is an object of the invention to solve the driving motor of cascaded structure joint type oxygen-acetylene cutting manipulator to be all mounted on pass
The position of section, leads to that manipulator rotary inertia is big, dynamic property decline, and accumulated error is big, and bearing capacity is small, complicated asks
Topic.More rod seal chain structure blanking Work machine devices are used the present invention provides a kind of, comprising: pedestal, is stretched rotatable platform
Contracting mechanism, elevating mechanism, luffing mechanism, wrist, burning torch and driving device；Telescoping mechanism is including the first driving lever and greatly
Arm；One end of first driving lever and rotatable platform are hinged, and large arm is in bending, and one end of large arm and the first driving lever is another
One end is hinged；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；One end of second driving lever
Hinged with rotatable platform, one end of second connecting rod and the other end of the second driving lever are hinged, and one end of third connecting rod is articulated with
The middle part of second connecting rod, elevating lever is in bending, and one end of elevating lever and the other end of third connecting rod are hinged；Second connecting rod
The other end is articulated with the middle part of large arm, and the other end of large arm is articulated with the middle part of elevating lever, and luffing mechanism includes: third driving lever
And pitch lever；One end of third driving lever is articulated on rotatable platform, and one end of pitch lever is another with third driving lever
End is hinged；The top of wrist and the other end of elevating lever are hinged, and the other end of lower part and pitch lever is hinged, by second connecting rod, greatly
The part lever arm of arm, third connecting rod and elevating lever forms quadrangle driving mechanism, improves traveling comfort；Driving device packet
Three servo motors are included, three servo motors are connected with the first driving lever 3, the second driving lever 4 and third driving lever 6 respectively
It connects.
The present invention is using controllable more bar parallel institutions, compared with mechanical arm of connecting, improves the operation of oxygen-acetylene cutting mechanical arm
Stationarity and reliability, no accumulated error, precision is higher；Compact-sized, rigidity is high, and large carrying capacity, inertia is low, dynamic
It can good, manipulator motion track flexible and diverse.
Detailed description of the invention
Fig. 1 is a kind of using more rod seal chain structure blanking Work machine apparatus structure schematic diagrams.
Specific embodiment
It is a kind of to use more rod seal chain structure blanking Work machine devices, comprising: pedestal 1, rotatable platform 2, telescopic machine
Structure, elevating mechanism, luffing mechanism, wrist 13, burning torch 10 and driving device；Telescoping mechanism is including the first driving lever 3 and greatly
Arm 5；One end of first driving lever 3 and rotatable platform 2 are hinged, and large arm 5 is in bending, and one end of large arm 5 and first is actively
The other end of bar 3 is hinged；Elevating mechanism includes: the second driving lever 4, second connecting rod 7, third connecting rod 8 and elevating lever 11；The
One end of two driving levers 4 and rotatable platform 1 are hinged, and one end of second connecting rod 7 and the other end of the second driving lever 4 are hinged, the
One end of three-link 8 is articulated with the middle part of second connecting rod 7, and elevating lever 11 is in bending, and one end of elevating lever 11 and third connect
The other end of bar 8 is hinged；The other end of second connecting rod 7 is articulated with the middle part of large arm 5, and the other end of large arm 5 is articulated with elevating lever
11 middle part, luffing mechanism include: third driving lever 6 and pitch lever 15；One end of third driving lever 6 passes through the tenth rotation
Pair 18 is articulated on rotatable platform 1, and one end of pitch lever 15 and the other end of third driving lever 6 are hinged；The top of wrist 13
Hinged with the other end of elevating lever 11, lower part and the other end of pitch lever 15 are hinged, by second connecting rod 7, large arm 5, third connecting rod 8
And the part lever arm of elevating lever 11 forms quadrangle driving mechanism, improves traveling comfort；Driving device is three servos
Motor, three servo motors are connected with the first driving lever 3, the second driving lever 4 and third driving lever 6 respectively.
In use, cooperating realization is corresponding to move with luffing mechanism by telescoping mechanism, elevating mechanism, when the first driving lever
3 drive to the right, and the second driving lever 4 drives to the left, and third driving lever 6 drives to the right, it can be achieved that stretching motion, when the first driving lever
3 drive to the left, and the second driving lever 4 drives to the left, and third driving lever 6 drives, it can be achieved that pitching movement to the left；When the first driving lever
3 drive to the left, and the second driving lever 4 drives to the right, and third driving lever 6 drives, it can be achieved that elevating movement to the left.
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. it is a kind of use more rod seal chain structure blanking Work machine devices, it is characterised in that: including pedestal, rotatable platform,
Telescoping mechanism, elevating mechanism, luffing mechanism, wrist, burning torch and driving device；Telescoping mechanism is including the first driving lever and greatly
Arm；One end of first driving lever and rotatable platform are hinged, and large arm is in bending, and one end of large arm and the first driving lever is another
One end is hinged；Elevating mechanism includes: the second driving lever, second connecting rod, third connecting rod and elevating lever；One end of second driving lever
Hinged with rotatable platform, one end of second connecting rod and the other end of the second driving lever are hinged, and one end of third connecting rod is articulated with
The middle part of second connecting rod, elevating lever is in bending, and one end of elevating lever and the other end of third connecting rod are hinged；Second connecting rod
The other end is articulated with the middle part of large arm, and the other end of large arm is articulated with the middle part of elevating lever, and luffing mechanism includes: third driving lever
And pitch lever；One end of third driving lever is articulated on rotatable platform, and one end of pitch lever is another with third driving lever
End is hinged；The top of wrist and the other end of elevating lever are hinged, and the other end of lower part and pitch lever is hinged, by second connecting rod, greatly
The part lever arm of arm, third connecting rod and elevating lever forms quadrangle driving mechanism, improves traveling comfort；Driving device packet
Three servo motors are included, three servo motors are connected with the first driving lever, the second driving lever and third driving lever respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710959155.1A CN109664284A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use more rod seal chain structure blanking Work machine devices |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710959155.1A CN109664284A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use more rod seal chain structure blanking Work machine devices |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109664284A true CN109664284A (en) | 2019-04-23 |
Family
ID=66140058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710959155.1A Withdrawn CN109664284A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use more rod seal chain structure blanking Work machine devices |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664284A (en) |
-
2017
- 2017-10-16 CN CN201710959155.1A patent/CN109664284A/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: 20190423 |
|
| WW01 | Invention patent application withdrawn after publication |