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

Abstract

The invention relates to a connecting rod type variable-degree-of-freedom painting mechanical arm driven by a servo motor. The connecting rod type variable-degree-of-freedom painting mechanical arm is characterized by comprising a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, a nozzle 32, a servo driving device, a first locking device 9 and a second locking device 19, wherein 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 by virtue of a seventh revolving pair 13, the servo driving device comprises a first servo motor which is connected with a driving rod 3 so as to drive the first servo motor to rotate, and the first locking device 9 and the second locking device 19 are locked in an electromagnetic mode. According to the connecting rod type variable-degree-of-freedom painting mechanical arm, a novel connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, and the defects of complex hydraulic system, easiness in oil leakage, high machining precision requirement and the like of a hydraulic painting mechanical arm are overcome; the locking devices are installed on revolving pairs, so that the two-degree-of-freedom painting operation can be realized only by using one driving rod, and the use number of motors is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a link-type variable-degree-of-freedom painting operation 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 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 s...

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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