Dual servo motor driven variable degree-of-freedom multi-linkage mechanism for gas cutting blanking machine

Abstract

The invention provides a dual servo motor driven variable degree-of-freedom multi-linkage mechanism for a gas cutting blanking machine. The multi-linkage mechanism comprises a base 1, a big arm lifting mechanism, a gripper linkage pitching mechanism, a gripper 27, a cutting gun 28, a servo-driving device, a first locking device 5 and a second locking device 12. The big arm lifting mechanism comprises a big arm 8, a fourth connecting rod 3 and a fifth connecting rod 6; the gripper linkage pitching mechanism comprises a driving rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11; the first locking device 5 and the second locking device 12 are respectively mounted on an eleventh rotating pair 4 and an eighth rotating pair 7, so as to perform timely locking according to different working conditions of a gas cutting blanking mechanism; the servo-driving device comprises a first servo motor which is connected to the driving rod 16 to drive the same to rotate; and the first locking device 5 and the second locking device 12 perform locking in an electromagnetic manner. According to the multi-linkage mechanism, a two-degree-of-freedom gas cutting blanking operation can be realized by using only one driving rod, so that the number of motors is reduced and the cost of the gas cutting blanking mechanism is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-link mechanism with variable degrees of freedom driven by double servo motors for a gas cutting blanking 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 ...

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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