Variable degree-of-freedom multi-connecting rod coating operation mechanical arm driven by adopting dual-servo motor

Abstract

The invention discloses a variable degree-of-freedom multi-connecting rod coating operation mechanical arm driven by adopting a dual-servo motor. The variable degree-of-freedom multi-connecting rod coating operation mechanical arm driven by adopting the dual-servo motor comprises a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a spraying nozzle 28, a servo driving device, a first locking device 5 and a second locking device 12; the big arm lifting mechanism comprises a big arm 8, a fourth connecting rod 3 and a fifth connecting rod 6; the wrist connecting rod pitching mechanism comprises a driving rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11; the first locking device 5 and the second locking device 12 are respectively mounted on an eleventh revolute pair 4 and an eighth revolute pair 7, and timely locking can be performed according to different working conditions of the coating operation mechanical arm; the servo driving device comprises a first servo motor which is connected with the driving rod 16 so as to drive the driving rod 16 to rotate; the first locking device 5 and the second locking device 12 are locked in an electromagnetic mode. According to the variable degree-of-freedom multi-connecting rod coating operation mechanical arm driven by adopting the dual-servo motor, two degree-of-freedom coating operation can be realized by only using one driving rod; the using number of motors is reduced; the construction cost of the coating operation mechanical arm is reduced.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a multi-link coating operation mechanical arm driven by double servo motors. 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 sometimes there is noi...

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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