Variable degree-of-freedom multilink welding machine driven by servo motor

Abstract

The invention discloses a variable degree-of-freedom multilink welding machine driven by a servo motor. The variable degree-of-freedom multilink welding machine comprises a base 1, a big arm lifting mechanism, a wrist link pitch mechanism, a wrist 27, a welding gun 28, a servo driving device, a first locking device 5 and a second locking device 18, wherein the big arm lifting mechanism consists of a big arm 9 and a lifting mechanism; the wrist link pitch mechanism consists of a wrist link 22 and a pitch mechanism; the first locking device 5 and the second locking device 18 are separately arranged on a third revolute pair 6 and a seventh revolute pair 17, and are locked in due time according to different working conditions; the servo driving device comprises a first servo motor which is connected with a first driving rod 14, so that the first servo motor is driven to rotate; and the first locking device 5 and the second locking device 18 are locked by adopting an electromagnetic mode. According to the variable degree-of-freedom multilink welding machine disclosed by the invention, the defects that a hydraulic system of a hydraulic machine is complex, is high in requirement on processing precision and easily leaks oil are overcome; the locking devices are adopted for the revolute pairs to realize the two-degree-of-freedom operation; and the amount of the used servo drive motors is smaller than the degree-of-freedom of a link mechanism of a welding mechanism arm.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-link welding mechanical arm driven by a servo motor with variable degrees of freedom. 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 vibration. Sometimes there wil...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a servo motor-driven variable-degree-of-freedom multi-link welding manipulator, which overcomes the shortcomings of the hydraulic system components of the hydraulic welding manipulator, such as high precision requirements, complex structure, and easy oil leakage, and overcomes the drive of the open chain structure. The disadvantage that the motors need to be installed at the joint position makes the number of controllable drive motors less than the degree of freedom of the linkage mechanism of the welding manipulator, which overcomes the need for the existing mechanical electric welding manipulator to be equipped with the same number of degrees of freedom as the linkage mechanism The shortcomings of controlling the motor to control, simplifying the complexity of the structure, reducing the weight, motion inertia, volume and cost of the mechanism

Images