Multi-freedom-degree connecting rod mechanism novel welding mechanical arm driven through servo motors

Abstract

The invention discloses a multi-freedom-degree connecting rod mechanism novel welding mechanical arm driven through servo motors. The multi-freedom-degree connecting rod mechanism novel welding mechanical arm comprises a base 9, a first drive rod 1, a second drive rod 2, a third drive rod 3, a third connecting rod 4, a fourth connecting rod 7, a first connecting rod 5, a large arm 6, a wrist 20, a welding gun 8 and a servo drive device. One end of the large arm 6 is connected with the fourth connecting rod 7 through a ninth rotation pair 19, and the other end of the large arm 6 is connected with the welding gun 8 through the wrist 20. The servo drive device comprises the first servo motor, the second servo motor and the third servo motor which are connected with the first drive rod 1, the second drive rod 2 and the third drive rod 3 correspondingly to drive the first drive rod 1, the second drive rod 2 and the third drive rod 3 to rotate, the first drive rod 1, the second drive rod 2 and the third drive rod 3 conduct driving together to complete movements such as lifting of the large arm and pitching of the wrist 20, and welding work of the welding gun is achieved. According to the multi-freedom-degree connecting rod mechanism novel welding mechanical arm driven through the servo motors, the motors are installed on the base so that the problems that an opening chain mechanism is large in arm weight and poor in dynamic performance can be solved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a novel welding robot arm driven by a servo motor with a multi-degree-of-freedom link 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 wide application of welding manipulators in welding operations. There are two types of welding manipulators: mechanical and hydraulic. At present, most welding manipulators are hydraulically driven. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, and it is easy to wear due to internal components. Finally, leakage will occur, 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. Sometimes there ...

AI Technical Summary

Problems solved by technology

[0004] The invention adopts a controllable multi-rod closed-chain mechanism, which overcomes the disadvantage that the driving motors of the open-chain structure need to be installed at joint positions, improves the stability and reliability of the arm operation, has no cumulative error, and has high precision; the structure is compact, High rigidity, large load-carrying capacity, low inertia, good dynamic performance, flexible and diversified arm movement trajectory, overcomes the shortcomings of hydraulic welding manipulator hydraulic system components such as high precision requirements, complex structure, easy oil leakage, poor reliability, and low transmission efficiency

Images