Connecting rod type variable-freedom-degree welding mechanical arm driven by servo motor

Abstract

The invention discloses a connecting rod type variable-freedom-degree welding mechanical arm driven by a servo motor. The connecting rod type variable-freedom-degree welding mechanical arm is characterized by comprising a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, a welding gun 32, a servo drive device, a first locking device 9 and a second locking device 19; the large arm lifting mechanism is composed of a large arm 14 and a lifting mechanism; the large arm 14 is connected to the base 1 through a seventh rotation pair 13; the servo drive device comprises the first servo motor which is connected with a drive rod 3 to drive the drive rod 3 to rotate; and the first locking device 9 and the second locking device 19 conduct locking in an electromagnetic manner. According to the connecting rod type variable-freedom-degree welding mechanical arm, a novel connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, the defects that a hydraulic welding mechanical arm hydraulic system is complex, oil leakage is likely to happen, and the requirement for machining precision is high are overcome; and due to the fact that the locking devices are adopted on rotation pairs, one drive rod can be used for achieving welding work of two freedom degrees, and the number of motors for use is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a connecting rod type variable-degree-of-freedom welding mechanical arm driven by a servo motor. 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 ...

AI Technical Summary

Problems solved by technology

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

At present, there are very 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 welding robotic arms have been seen.

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