Servo driving connection rod type variable degree-of-freedom connection rod mechanism for oxygen-acetylene cutting machine

Abstract

A servo driving connection rod type variable degree-of-freedom connection rod mechanism for a oxygen-acetylene cutting machine is characterized by comprising a base 1, a large arm lifting mechanism, a gripper connection rod luffing mechanism, a gripper 31, a cutting gun 32, a servo driving device, a first locking device 9 and a second locking device 19. The large arm lifting mechanism comprises a large arm 14 and a lifting mechanism. The large arm 14 is connected to the base 1 through a seventh rotary pair 13. The servo driving device comprises a first servo motor connected with a driving rod 3 so as to drive the driving rod 3 to rotate. The first locking device 9 and the second locking device 19 are locked in an electromagnetism mode. According to the servo driving connection rod type variable degree-of-freedom connection rod mechanism, a novel connection rod transmission mechanism is adopted for replacing traditional hydraulic transmission, the defects that a hydraulic oxygen-acetylene cutting machine hydraulic system is complex, liable to oil leakage and high in machining precision requirement, due to the fact that the locking devices are adopted on rotary pairs, two degree-of-freedom oxygen-acetylene cutting operation can be conducted through the one driving rod, and the motor usage quantity is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a servo-driven link-type variable-degree-of-freedom link mechanism 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 drive motors are in...

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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