Multi-rod closed chain structure mechanical arm for gas cutting blanking operation

Abstract

The invention provides a multi-rod closed chain structure mechanical arm for gas cutting blanking operation. The multi-rod closed chain structure mechanical arm comprises a base, a rotary platform, a telescopic mechanism, a lifting mechanism, a pitching mechanism, a cutting torch, a wrist and a driving device. The telescopic mechanism comprises a first driving rod and a big arm. The lifting mechanism comprises a second driving rod, a second connecting rod, a third connecting rod and a lifting rod. The pitching mechanism comprises a third driving rod and a pitching rod. The driving device comprises three servo motors which are connected with the first driving rod, the second driving rod and the third driving rod correspondingly. According to the multi-rod closed chain structure mechanical arm, a controllable multi-rod parallel mechanism is adopted, and compared with a series connection mechanical arm, the operation stability and reliability of the mechanical arm are improved, accumulative errors are avoided, and the precision is high; and the structure is compact, rigidity is high, the bearing capacity is high, the inertia is low, the dynamic performance is good, and the motion curves of the mechanical arm are flexible and diversified.

Description

technical field [0001] The invention relates to the field of mechanical engineering, in particular to a mechanical arm with a multi-rod closed-chain structure for gas cutting and blanking operations. Background technique [0002] At present, most of the general-purpose gas-cutting cutting manipulators in the manufacturing industry are open-chain series structure joint motor-driven manipulators. The main feature is that the drive motors are all installed on each joint of the manipulator, and the motor drives each joint The rotation of the mechanical arm realizes various actions of the mechanical arm. This structure has the following problems: the arm of the mechanical 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, which will increase the load on the driving motor , increasing the moment of inertia of the arm, leading to a decline in the dynamic performance of the manipulator, and ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problems that the drive motors of the articulated gas cutting manipulator with a series structure are installed at the joints, resulting in a large moment of inertia of the manipulator, a decrease in dynamic performance, a large cumulative error, a small bearing capacity, and a complex structure.

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