Novel welding mechanical arm using variable freedom degree connecting rod mechanism and comprising rotation pair locking devices

Abstract

A novel welding mechanical arm using a variable freedom degree connecting rod mechanism and comprising rotation pair locking devices is characterized by comprising a base 19, a second drive rod 21, a second connecting rod 2, an upper arm 4, a wrist connecting rod 7, a first drive rod 17, a big arm 9, a fourth connecting rod 14, a first connecting rod 12, a wrist 27, a welding gun 28, a servo drive device and a third connecting rod 10; a second rotation pair 15 is provided with a first electromagnetic locking device 23; a tenth rotation pair 3 is provided with a second electromagnetic locking device 24; the servo drive device comprises a first servo motor and a second servo motor, and the first servo motor and the second servo motor are connected with the first drive rod 17 and the second drive rod 21 so as to drive the first drive rod 17 and the second drive rod 21 to rotate; and the first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner and jointly finish the movement of big arm ascending and descending, wrist connecting rod and wrist pitching movement and the like, and the welding work of the welding gun 28 is achieved. According to the novel welding mechanical arm using the variable freedom degree connecting rod mechanism and comprising the rotation pair locking devices, the variable freedom degree connecting rod transmission mechanism replaces traditional hydraulic transmission, and the defects that a hydraulic welding mechanical arm hydraulic system is complex, and oil leakage is likely to happen are overcome.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a novel welding mechanical arm with a variable degree of freedom link mechanism containing a rotating pair locking device. Background technique [0002] In the past few years, due to the shortage of personnel in the labor market, labor costs have increased year by year, which has promoted the wide application of welding manipulators in welding operations. There are two types of welding manipulators: mechanical and hydraulic. At present, most welding manipulators are hydraulically driven. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, and it is easy to wear due to internal components. Finally, leakage will occur, and the leaked hydraulic oil will pollute the environment; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and ...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a new type of welding manipulator with a variable degree of freedom linkage mechanism containing a rotary pair locking device, which overcomes the shortcomings of high precision requirements, complex structure, and easy oil leakage of the hydraulic system components of the hydraulic welding manipulator, and overcomes the disadvantages of opening and closing. The drive motors of the chain structure need to be installed at the joint position, and the number of controllable drive motors is less than the degree of freedom of the welding manipulator link mechanism, which overcomes the need for the existing mechanical electric welding manipulator arm to be equipped with the freedom of the link mechanism The shortcomings of controlling the same number of control motors, simplifying the complexity of the structure, reducing the weight, motion inertia, volume and cost of the mechanism

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