Variable-freedom-degree multi-connection-rod coating operation mechanical arm driven by servo motor

Abstract

A variable-freedom-degree multi-connection-rod coating operation mechanical arm driven by a servo motor comprises a base 1, a big arm ascending and descending mechanism, a wrist connection rod pitching mechanism, a wrist 27, a spray nozzle 28, a servo drive device, a first locking device 5 and a second locking device 18. The big arm ascending and descending mechanism is composed of the big arm 9 and an ascending and descending mechanism. The wrist connection rod pitching mechanism is composed of a wrist connection rod 22 and a pitching mechanism. The first locking device 5 is installed on a third rotation pair 6. The second locking device 18 is installed on a seventh rotation pair 17. The first locking device 5 and the second locking device 18 conduct locking at the appropriate moment according to different working conditions. The servo drive device comprises the first servo motor, wherein the first servo motor is connected with a first driving rod 14 so as to drive the first driving rod 14 to rotate. The first locking device 5 and the second locking device 18 conduct locking in an electromagnetic manner. The variable-freedom-degree multi-connection-rod coating operation mechanical arm driven by the servo motor overcomes defects that a hydraulic system of a hydraulic machine is complicated, high in machining accuracy requirement and prone to leaking oil; and two-freedom-degree operation is achieved in the manner that the locking devices are arranged on the rotation pairs, and the number of the adopted servo drive motor is smaller than the number of the freedom degrees of a linkage mechanism of the coating operation mechanical arm.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo motor-driven variable-degree-of-freedom multi-link painting operation mechanical arm. 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 widespread application of painting operation manipulators in painting operations. There are two types of mechanical arms for painting operations and hydraulic types. At present, most of the mechanical arms of painting operation arms are hydraulically driven. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is relatively low. Poor, it is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and somet...

AI Technical Summary

Problems solved by technology

There are two types of mechanical arms for painting operations and hydraulic types. At present, most of the mechanical arms of painting operation arms are hydraulically driven. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is relatively low. Poor, easy to leak due to wear of internal components, 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 the actual situation, and no variable-degree-of-freedom mechanism that has been applied to the mechanical arm of painting operations has been seen.

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