CN109664288A - It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device - Google Patents
It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device Download PDFInfo
- Publication number
- CN109664288A CN109664288A CN201710961886.XA CN201710961886A CN109664288A CN 109664288 A CN109664288 A CN 109664288A CN 201710961886 A CN201710961886 A CN 201710961886A CN 109664288 A CN109664288 A CN 109664288A
- Authority
- CN
- China
- Prior art keywords
- forearm
- drive rod
- drive
- connecting rod
- 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- Withdrawn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
- 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
Abstract
It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device, 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, burning torch, 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, are filled more particularly to a kind of using combination drive multiple degrees of freedom 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 arm
Movement inertia, cause manipulator dynamic property to decline, while driving motor is all mounted on joint position and causes the tired of manipulator
Product 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
Working space is big, flexible movements, the motion profile output of achievable complexity, at the same also with manufacturing cost it is low, maintenance is simple
The advantages that single.
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 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.Above functions that the invention is realized by the following technical scheme: it is a kind of to use combination drive multiple degrees of freedom blanking mechanical device,
It is characterized 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, burning torch, pedestal, rotatable platform and servo drive；Forearm one end is connected on wrist connecting rod, and forearm is another
One 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 to bottom
On seat, electric pushrod one end is connected on forearm, and the electric pushrod other end is connected on wrist connecting rod, the connection of wrist connecting rod one end
On forearm, described 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, greatly
The arm drive rod other end is connected on rotatable platform, and servo drive includes first servo motor and the second servo motor,
First servo motor is connect with large arm drive rod, and the second servo motor is connect with forearm drive rod.
Combination drive multiple degrees of freedom blanking mechanical device is used the invention discloses a kind of, two motors are mounted on work
On platform, it is used to control the angular dimension of wrist pitching using an electric pushrod, two motors is mounted on workbench
On, overcome that cascaded structure articulated robot rotary inertia is big, and dynamic performance is poor, structure is complicated, the degree of modularity is low
Disadvantage, the advantages of combining constant speed motor and servo motor, have and are easy to control, are quick on the draw, manufacturing low excellent of maintenance cost
Point.
Detailed description of the invention
Fig. 1 is a kind of structural scheme of mechanism using combination drive multiple degrees of freedom blanking mechanical device of the present invention.
Specific embodiment
It is a kind of use combination drive multiple degrees of freedom blanking mechanical device, including large arm 6, big arm link 4, large arm drive rod 5,
It is forearm 7, small arm link 8, forearm drive rod 9, electric pushrod 3, wrist connecting rod 11, wrist 12, burning torch 10, pedestal 2, rotatable flat
Platform 1 and servo drive, 7 one end of forearm are connected on wrist connecting rod 11, and 7 other end of forearm is connect with small 8 one end of arm link,
Small arm link 8 is connect with 9 one end of forearm drive rod, and 9 other end of forearm drive rod is connected on pedestal 2, and 3 one end of electric pushrod connects
It connects on forearm 7,3 other end of electric pushrod is connected on wrist connecting rod 11, and 11 one end of wrist connecting rod is connected on forearm 7, institute
It states big 4 one end of arm link to be connected in large arm 6, big 4 other end of arm link is connect with 5 one end of large arm drive rod, large arm drive rod 5
The other end is connected on rotatable platform 1, and servo drive includes first servo motor and the second servo motor, the 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 burning torch 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 oxygen-acetylene cutting manipulators, including pedestal, rotatable platform, telescoping mechanism, pitching machine
Structure, burning torch, can be rotated wrist and driving device at elevating mechanism；Telescoping mechanism includes: the first driving lever, the second driving lever, big
One end of arm, first connecting rod and second connecting rod, the first driving lever is articulated in rotatable platform, one end hinge of the second driving lever
Be connected 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 large arm it is another
One end is hinged, second connecting rod be in bending, one end of second connecting rod and the other end of the second driving lever are hinged, second connecting rod it is another
One end is articulated with the middle part of first connecting rod；Luffing mechanism includes pitch lever and wrist connecting rod, and one end of pitch lever connects with first
The other end of bar is hinged, and the top of wrist connecting rod and the other end of pitch lever are hinged；Elevating mechanism include third driving lever and
One end of elevating lever, third driving lever is articulated in rotatable platform, and one end of elevating lever is articulated on the lever arm of second connecting rod,
Elevating lever 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 of elevating lever
The lower hinge of connecting rod；Driving device is three servo motors, and servo motor is mounted on rotatable platform, main with first respectively
Lever, the second driving lever and the connection of third driving lever are each responsible for the first driving lever of driving, the to drive corresponding rotation
The swing of two driving levers 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 use combination drive multiple degrees of freedom blanking mechanical device, 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, burning torch, pedestal, rotatable platform and
Servo drive；Forearm one end is connected on wrist connecting rod, and the forearm other end is connect with small arm link one end, small arm link with
The connection of forearm drive rod one end, the forearm drive rod other end are connected on pedestal, and electric pushrod one end is connected on forearm, electronic
The push rod other end is connected on wrist connecting rod, and wrist connecting rod one end is connected on forearm, and described big arm link one end is connected to greatly
In the middle part of arm, 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 on rotatable platform,
Servo drive includes first servo motor and the second servo motor, and first servo motor is connect with large arm drive rod, and second
Servo motor is connect with forearm drive rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710961886.XA CN109664288A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710961886.XA CN109664288A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109664288A true CN109664288A (en) | 2019-04-23 |
Family
ID=66140264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710961886.XA Withdrawn CN109664288A (en) | 2017-10-16 | 2017-10-16 | It is a kind of to use combination drive multiple degrees of freedom blanking mechanical device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109664288A (en) |
-
2017
- 2017-10-16 CN CN201710961886.XA patent/CN109664288A/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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190423 |