Servo driven variable degree-of-freedom multi-connecting mechanism for oxygen-acetylene cutting machine

Abstract

The invention relates to a servo driven variable degree-of-freedom multi-connecting mechanism for an oxygen-acetylene cutting machine. The mechanism comprises a base 1, a large arm lifting mechanism, a clamp holder connecting rod pitch mechanism, a clamp holder 27, a cutting gun 28, a servo driving device, a first locking device 5 and a second locking device 18; the large arm lifting mechanism is composed of a large arm 9 and a lifting mechanism, the clamp holder connecting rod is composed of a clamp holder connecting rod 22 and a pitch mechanism, the first locking device 5 and the second locking device 18 are separately mounted on a third revolute pair 6 and the seventh revolute pair 17 and timely lock according to different working conditions of the mechanism; the servo driving device comprises a first servo motor which is connected to a first driving rod 14 to drive the first driving rod 14 to rotate; the first locking device 5 and the second locking device 18 lock in an electromagnetic mode. The mechanism provided by the invention overcomes the defects that a hydraulic machine is complex in hydraulic system, high in demand on processing precision and easy to leak oil; a two-degree-of-freedom operation is realized by using the locking devices on the revolute pairs, and the quantity of used controllable driving motors is smaller than the degree of freedom of an oxygen-acetylene cutting connecting mechanism.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven variable-degree-of-freedom multi-link mechanism for a gas cutting cutting machine. Background technique [0002] At present, most of the general-purpose gas cutting cutting machines in the manufacturing industry are joint-type motor-driven manipulators with a series structure in the form of an open chain. Various actions of the manipulator. Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load on the drive motor, increase the moment of inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are install...

AI Technical Summary

Problems solved by technology

Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator arm needs to carry the weight of the motor and meet the rigidity requirements, and the cross-sectional size of the arm needs to be made larger. This will increase the load of the drive motor, increase the motion inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are installed at the joint position, resulting in large cumulative errors, small load-carrying capacity, complex structure, and low modularity of the manipulator.

At present, there are few variable-degree-of-freedom mechanisms that can be applied to practical applications, and no variable-degree-of-freedom mechanisms that have been applied to gas cutting blanking machines have been seen.

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