Servo motor drive two-degree of freedom link mechanism for simple oxygen-acetylene cutting machine

Abstract

A servo motor drive two-degree of freedom link mechanism for a simple oxygen-acetylene cutting machine comprises a second drive rod 2, a base 14, a big arm 4, a small arm 7, a holder connecting rod 9, a first drive rod 11, a holder 17, a burning torch 18, a servo drive device and a connecting rod 15. One end of the connecting rod 15 is connected to the big arm 4 through a seventh revolute pair 5, and the other end of the connecting rod 15 is connected with the first drive rod 11 through an eighth revolute pair 10. The base 14 is arranged on a walking chassis. The servo drive device comprises a first servo motor and a second servo motor, the first servo motor is connected with the first drive rod 11 to drive the first drive rod to rotate, the second servo motor is connected with the second drive rod 2 to drive the second drive rod 2 to rotate, the first drive rod 11 and the second drive rod 2 jointly carry out driving to finish big arm ascending and descending and pitching and other movement of the holder 17, and oxygen-acetylene cutting operation of the burning torch 18 is achieved. The servo motor drive two-degree of freedom link mechanism overcomes the defect that a drive motor of an open-chain structure needs to be installed at a joint position, and the stability and reliability of running of the arms are improved.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a two-degree-of-freedom link mechanism driven by a servo motor for a simple gas cutting cutting machine. Background technique [0002] At present, most of the general-purpose gas cutting cutting machines in the manufacturing industry are joint-type motor-driven manipulators with a series structure in the form of an open chain. Various actions of the manipulator. Since the driving motors of the joint-type manipulators with series structure in the form of open chain are installed at the joints, this structure has the following problems: the manipulator 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. This will increase the load on the drive motor, increase the moment of inertia of the arm, and lead to a decrease in the dynamic performance of the manipulator. At the same time, the drive motors are ...

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, overcome the high precision requirements of the hydraulic system components of the hydraulic gas cutting machine, complex structure, easy oil leakage, poor reliability, low transmission efficiency, etc. shortcoming

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