Novel coating work mechanical arm of variable-freedom link rod mechanism and with rotating pair locking device

Abstract

A novel coating work mechanical arm of a variable-freedom link rod mechanism and with a rotating pair locking device is characterized in that a base 19, a second active rod 21, a second link rod 2, an upper arm 4, a wrist link rod 7, first active rod 17, a big arm 9, a fourth link rod 14, a first link rod 12, a wrist 27, a nozzle 28, a servo driving device and a third link rod10 are included; a first electromagnetic locking device 23 is mounted on a second rotating pair 15; a second electromagnetic locking device 24 is mounted on a tenth rotating pair 3; the servo driving device includes the first servo motor and the second servo motor, and the first servo motor and the second servo motor are connected with the first active rod 15 and the second active rod 18 correspondingly so as to drive the first active rod 15 and the second active rod 18 rotate; the first locking device 23 and the second locking device 24 are electromagnetically locked and complete the lifting of the big arm, the pitching of the wrist link rod and the wrist and other motions jointly and the coating work of the nozzle 28 is achieved. By replacing traditional hydraulic transmission with the variable degree-freedom link rod transmission mechanism, the defects of being complex and prone to oil leakage of a hydraulic system of the hydraulic coating work mechanical arm are overcome.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a novel painting operation mechanical arm with a variable-degree-of-freedom link mechanism including a rotating pair locking device. 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,...

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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