Servo-motor-drive multi-degree-of-freedom connecting rod mechanism painting operation mechanical arm

Abstract

A servo-motor-drive multi-degree-of-freedom connecting rod mechanism painting operation mechanical arm comprises a base, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a nozzle and a servo driving device. The big arm lifting mechanism is composed of a second driving rod 19, a third connecting rod 3 and a big arm 5. One end of the second driving rod 19 is connected with the base 1 through a second rotation pair 17, and the other end of the second driving rod 19 is connected with the big arm 5 through a third rotation pair 18. One end of the third connecting rod 3 is connected with the base 1 through a tenth rotation pair 2, and the other end of the third connecting rod 3 is connected with the big arm 5 through a first rotation pair 4. The servo driving device comprises a first servo motor and a second servo motor. The first servo motor and the second servo motor are connected with a first driving rod 15 and the second driving rod 19 correspondingly to drive the first driving rod 15 and the second driving rod 19 to rotate so that movements such as lifting of the big arm and pitching of a wrist connecting rod 7 and the wrist 27 can be completely jointly, and painting operation of the nozzle 28 is achieved. The defect that all driving motors of an open-chain structure need to be mounted at joints is overcome, and the operation stability and reliability of the arm are improved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a coating operation mechanical arm driven by a servo motor with a multi-degree-of-freedom linkage mechanism. 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...

AI Technical Summary

Problems solved by technology

[0004] A servo motor-driven link type variable-degree-of-freedom painting operation mechanical arm adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the drive motors of the open-chain structure need to be installed at joint positions, and improves the operating efficiency of the arm. Stability and reliability, no cumulative error, high precision; compact structure, high rigidity, large load-carrying capacity, low inertia, good dynamic performance, flexible and diverse arm movement trajectory, overcome the hydraulic system components of the hydraulic coating operation manipulator Disadvantages such as high precision requirements, complex structure, easy oil leakage, poor reliability, and low transmission efficiency

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